TY - JOUR
T1 - Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection
AU - Smeur, E. J.J.
AU - de Croon, G. C.H.E.
AU - Chu, Q.
PY - 2018/4/1
Y1 - 2018/4/1
N2 - This paper presents the cascaded integration of Incremental Nonlinear Dynamic Inversion (INDI) for attitude control and INDI for position control of micro air vehicles. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the quadrotor flies in and out of a 10 m/s windtunnel exhaust. The control method does not rely on frequent position updates, as is demonstrated in an outside experiment using a standard GPS module. Finally, we investigate the effect of using a linearization to calculate thrust vector increments, compared to a nonlinear calculation.
AB - This paper presents the cascaded integration of Incremental Nonlinear Dynamic Inversion (INDI) for attitude control and INDI for position control of micro air vehicles. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the quadrotor flies in and out of a 10 m/s windtunnel exhaust. The control method does not rely on frequent position updates, as is demonstrated in an outside experiment using a standard GPS module. Finally, we investigate the effect of using a linearization to calculate thrust vector increments, compared to a nonlinear calculation.
KW - Disturbance rejection
KW - Incremental control
KW - Quadrocopter
KW - Wind gusts
KW - Windtunnel free flight
UR - http://www.scopus.com/inward/record.url?scp=85041477836&partnerID=8YFLogxK
UR - http://resolver.tudelft.nl/uuid:3079ef6f-907b-4b55-b21f-4a3ad8b65401
U2 - 10.1016/j.conengprac.2018.01.003
DO - 10.1016/j.conengprac.2018.01.003
M3 - Article
AN - SCOPUS:85041477836
VL - 73
SP - 79
EP - 90
JO - Control Engineering Practice
JF - Control Engineering Practice
SN - 0967-0661
ER -