Improved Quadcopter Disturbance Rejection Using Added Angular Momentum

Improved Quadcopter Disturbance Rejection Using Added Angular Momentum -- High Performance Robotics Laboratory (HiPeRLab), UC Berkeley - hiperlab.berkeley.edu
A post-peer-review version of the related article is available at:
hiperlab.berkel...
We present a novel quadcopter design with an added momentum wheel for enhanced stability. The contribution of the momentum wheel to the dynamics of the quadcopter can be scaled without a proportional increase in mass by changing the speed at which the wheel spins. The additional angular momentum provided by the momentum wheel helps the quadcopter maintain a desired attitude, enhancing the ability of the quadcopter to fly in environments with large torque disturbances.
Researchers:
Nathan Bucki
Mark W. Mueller
Video:
Nathan Bucki
Acknowledgements:
NSF GRFP (Grant No. DGE 1752814)
Powley Fund

[@MindRiderFPV]

A hailstorm of that size would destroy the propellers. How much weight does the wheel add? Sorry for the critics, i love flying quads, but non automated ones.