Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection

E. J.J. Smeur*, G. C.H.E. de Croon, Q. Chu

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

87 Citations (Scopus)
95 Downloads (Pure)


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
Publication statusPublished - 1 Apr 2018


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


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