Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

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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 languageEnglish
Title of host publicationProceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subtitle of host publicationDaejeon, Korea
Number of pages6
ISBN (Electronic)978-1-5090-3762-9, 978-1-5090-3761-2
DOIs
Publication statusPublished - 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org/

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS 2016
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16
Internet address

Keywords

  • Acceleration
  • Rotors
  • Wind
  • Drones
  • Force
  • Atmospheric modeling

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