Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection

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Abstract

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.

Original languageEnglish
Pages (from-to)79-90
Number of pages12
JournalControl Engineering Practice
Volume73
DOIs
Publication statusPublished - 1 Apr 2018

Keywords

  • Disturbance rejection
  • Incremental control
  • Quadrocopter
  • Wind gusts
  • Windtunnel free flight

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