Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection

E. J.J. Smeur; G. C.H.E. de Croon; Q. Chu

doi:10.1016/j.conengprac.2018.01.003

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

Control & Simulation

Research output: Contribution to journal › Article › Scientific › peer-review

87 Citations (Scopus)

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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 language	English
Pages (from-to)	79-90
Number of pages	12
Journal	Control Engineering Practice
Volume	73
DOIs	https://doi.org/10.1016/j.conengprac.2018.01.003
Publication status	Published - 1 Apr 2018

Keywords

Disturbance rejection
Incremental control
Quadrocopter
Wind gusts
Windtunnel free flight

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10.1016/j.conengprac.2018.01.003

root2Accepted author manuscript, 2.75 MBLicence: CC BY-NC-ND

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title = "Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection",

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.",

keywords = "Disturbance rejection, Incremental control, Quadrocopter, Wind gusts, Windtunnel free flight",

author = "Smeur, {E. J.J.} and {de Croon}, {G. C.H.E.} and Q. Chu",

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AU - Smeur, E. J.J.

AU - de Croon, G. C.H.E.

AU - Chu, Q.

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Y1 - 2018/4/1

N2 - 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.

AB - 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.

KW - Disturbance rejection

KW - Incremental control

KW - Quadrocopter

KW - Wind gusts

KW - Windtunnel free flight

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SN - 0967-0661

VL - 73

SP - 79

EP - 90

JO - Control Engineering Practice

JF - Control Engineering Practice

ER -

Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection

Abstract

Keywords

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Corrigendum to “Cascaded incremental nonlinear dynamic inversion control for MAV disturbance rejection”[Journal of Control Engineering Practice 73 (2018) 79–90, (S0967066118300030), (10.1016/j.conengprac.2018.01.003)]

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