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

• Published in: Chinese 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
• Language: English
• 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

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...