Onboard actuator model-based Incremental Nonlinear Dynamic Inversion for quadrotor attitude control: Method and application

This paper addresses the robust attitude control problem for quadrotors subject to model mismatch and disturbances. A dynamic inversion based attitude control scheme is proposed, which consists of an outer loop attitude controller and an inner loop angular acceleration controller. The attitude contr...

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Bibliographic Details
Published inChinese journal of aeronautics Vol. 34; no. 11; pp. 216 - 227
Main Authors WANG, Zexin, ZHAO, Jiang, CAI, Zhihao, WANG, Yingxun, LIU, Ningjun
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.11.2021
School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China
Subjects
Actuator
Attitude control
INDI
NDI
Quadrotor
INDI
NDI
Attitude control
Actuator
Quadrotor
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Summary:This paper addresses the robust attitude control problem for quadrotors subject to model mismatch and disturbances. A dynamic inversion based attitude control scheme is proposed, which consists of an outer loop attitude controller and an inner loop angular acceleration controller. The attitude controller is designed based on the Nonlinear Dynamic Inversion (NDI) to precisely linearize the nonlinear dynamics between the angular acceleration and the attitude. An onboard actuator model-based Incremental Nonlinear Dynamic Inversion (INDI) controller is designed in the angular acceleration control loop to improve the robustness against the model mismatch and disturbances. Meanwhile, the onboard actuator model with a modified structure eliminates the oscillation phenomenon when the sampling rate of the controller is higher than that of the actuator. Numerical simulations and flight tests demonstrate the effectiveness and robustness of the proposed controller in comparison with the PID controller.
ISSN:1000-9361
DOI:10.1016/j.cja.2021.03.018