ZephFlyer: Disturbance-Aware Quadrotor Control Under Wind

Modeling, simulation, firmware implementation, and hardware validation of wind-robust quadrotor control

Dec. 15th, 2025

24774 ACSI, CMU

Professor Mark Bedillion

Nathan Sun

Hanze Liu

Yunliang Zhao

Presentation Slides

Download Report

Keywords:

Quadrotor Control · Disturbance Rejection · Extended State Observer (ESO) · LQR · PID · Model Predictive Control · Embedded Firmware · Real-Time Control · Wind Robustness · Simulation & Hardware Validation