With increasing applications for small UAVs in urban areas, it is important to study effective control techniques capable of ensuring their safe and reliable flight in the presence of urban wind disturbances. This paper presents an in depth analysis of the position control performance of a quadrotor in an urban wind gust environment. Previously modelled transient wind flow velocities based on a Computational Fluid Dynamics analysis using Large Eddy Simulation are applied to create a realistic simulation environment for a custom built quadrotor prototype. Four different control techniques, PID, integral backstepping, fuzzy, and adaptive integral backstepping, are selected based on their potential in dealing with wind disturbances. While all controls perform satisfactorily in the absence of wind, a comparative analysis of simulation results for various flight scenarios in the wake of a building evaluates the differing strengths and weaknesses each technique demonstrates when performing position hold under urban wind conditions.
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