Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

Ewoud Smeur; Guido de Croon; Qiping Chu

doi:10.1109/IROS.2016.7759827

Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

Control & Simulation

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

31 Citations (Scopus)

253 Downloads (Pure)

Abstract

Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control technique that can control nonlinear systems subject to disturbances. This method was developed for the attitude control of MAVs, but in this paper we generalize this method to the outer loop control of MAVs under gust loads. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the drone flies in and out of a fan's wake. The control method does not rely on frequent position updates, so it is ready to be applied outside with standard GPS modules.

Original language	English
Title of host publication	Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subtitle of host publication	Daejeon, Korea
Number of pages	6
ISBN (Electronic)	978-1-5090-3762-9, 978-1-5090-3761-2
DOIs	https://doi.org/10.1109/IROS.2016.7759827
Publication status	Published - 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated title	IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org/

Keywords

Acceleration
Rotors
Wind
Drones
Force
Atmospheric modeling

Access to Document

10.1109/IROS.2016.7759827

Gust Disturbance Alleviation with Incremental Nonlinear DynamicaInversionAccepted author manuscript, 2.99 MB

Cite this

@inproceedings{2781baceb00f4de2a52abd869a349145,

title = "Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion",

abstract = "Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control technique that can control nonlinear systems subject to disturbances. This method was developed for the attitude control of MAVs, but in this paper we generalize this method to the outer loop control of MAVs under gust loads. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the drone flies in and out of a fan's wake. The control method does not rely on frequent position updates, so it is ready to be applied outside with standard GPS modules.",

keywords = "Acceleration, Rotors, Wind, Drones, Force, Atmospheric modeling",

author = "Ewoud Smeur and {de Croon}, Guido and Qiping Chu",

year = "2016",

doi = "10.1109/IROS.2016.7759827",

language = "English",

isbn = "978-1-5090-3763-6",

booktitle = "Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

url = "http://www.iros2016.org/",

}

Smeur, E , de Croon, G & Chu, Q 2016, Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion. in Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, Korea. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759827

Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion. / Smeur, Ewoud ; de Croon, Guido ; Chu, Qiping.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, Korea. 2016.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

AU - Smeur, Ewoud

AU - de Croon, Guido

AU - Chu, Qiping

PY - 2016

Y1 - 2016

N2 - Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control technique that can control nonlinear systems subject to disturbances. This method was developed for the attitude control of MAVs, but in this paper we generalize this method to the outer loop control of MAVs under gust loads. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the drone flies in and out of a fan's wake. The control method does not rely on frequent position updates, so it is ready to be applied outside with standard GPS modules.

AB - Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control technique that can control nonlinear systems subject to disturbances. This method was developed for the attitude control of MAVs, but in this paper we generalize this method to the outer loop control of MAVs under gust loads. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the drone flies in and out of a fan's wake. The control method does not rely on frequent position updates, so it is ready to be applied outside with standard GPS modules.

KW - Acceleration

KW - Rotors

KW - Wind

KW - Drones

KW - Force

KW - Atmospheric modeling

U2 - 10.1109/IROS.2016.7759827

DO - 10.1109/IROS.2016.7759827

M3 - Conference contribution

SN - 978-1-5090-3763-6

BT - Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 9 October 2016 through 14 October 2016

ER -

Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

Abstract

Conference

Keywords

Access to Document

Fingerprint

Cite this