Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection

Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection 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. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Control Engineering Practice Elsevier

Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection

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Publisher
Elsevier
Copyright
Copyright © 2018 Elsevier Ltd
ISSN
0967-0661
D.O.I.
10.1016/j.conengprac.2018.01.003
Publisher site
See Article on Publisher Site

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.

Journal

Control Engineering PracticeElsevier

Published: Apr 1, 2018

References

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