Robust Stabilization of a Quadrotor as a 5G Access Point Using Acceleration Feedback

Using a quad rotor as a 5G access point is an effective approach to regaining communication link after natural disasters and in a search-and-rescue mission. Hence, maintaining the drone in a stationary position is a requirement of high-quality wireless communication and 5G-aided localization. A nonlinear robust stabilization control by using an uncertainty and disturbance estimator (UDE) is proposed in this paper to fulfill this task. Acceleration feedback is used in conjunction with the UDE to provide an estimation of the wind disturbance. A Kalman filter is constructed to provide location and velocity feedback to the controller. Simulation results show that the UDE can stabilize the quadrotor in a time-varying wind field.