提出兼顾地面效应的多旋翼控制方法，显著降低近地飞行误差。
Ground-Effect-Aware Modeling and Control for Multicopters
- 构建地面效应下多旋翼外力矩数学模型，揭示气流影响机制。
- 实验验证地面效应使控制误差降低45.3%（RMSE）。
- 适合需要高精度近地飞行的无人机研发人员参考。
多旋翼飞行器在近地飞行时受地面效应影响，产生额外升力、控制误差及外部扭矩波动，同时地面气流会改变旋翼阻力和混合矩阵。本文通过力测量平台与真实飞行数据，首次总结了地面效应下的外部扭矩数学模型，并实验验证了气流对旋翼阻力和混合矩阵的影响。经简化推导，确认了多旋翼在地面效应下的微分平坦性。为抑制干扰，提出融合动态逆与扰动模型的控制方法，通过前馈补偿额外推力和旋翼阻力变化；地面效应的水平力矩被等效为质心与惯量变化，不显式出现在动力学模型中。实验结果表明，该方法将控制误差（RMSE）降低45.3%。相关代码见：https://github.com/ZJU-FAST-Lab/Ground-effect-controller。
原文摘要 · Abstract (English)
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to external torques, and the influence of ground airflow on models such as the rotor drag and the mixing matrix. This article collects and analyzes the dynamics data of near-ground multicopter flight through various methods, including force measurement platforms and real-world flights. For the first time, we summarize the mathematical model of the external torque of multicopters under ground effect. The influence of ground airflow on rotor drag and the mixing matrix is also verified through adequate experimentation and analysis. Through simplification and derivation, the differential flatness of the multicopter's dynamic model under ground effect is confirmed. To mitigate the influence of these disturbance models on control, we propose a control method that combines dynamic inverse and disturbance models, ensuring consistent control effectiveness at both high and low altitudes. In this method, the additional thrust and variations in rotor drag under ground effect are both considered and compensated through feedforward models. The leveling torque of ground effect can be equivalently represented as variations in the center of gravity and the moment of inertia. In this way, the leveling torque does not explicitly appear in the dynamic model. The final experimental results show that the method proposed in this paper reduces the control error (RMSE) by \textbf{45.3\%}. Please check the supplementary material at: https://github.com/ZJU-FAST-Lab/Ground-effect-controller.
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