1. Dynamic Inversion-Enhanced U-Control of Quadrotor Trajectory Tracking
- Author
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Ahtisham Lone, Quanmin Zhu, Hamidreza Nemati, and Paolo Mercorelli
- Subjects
U-model realisation ,U-dynamic inversion ,quadrotor UAV ,quadrotor control ,trajectory tracking ,simulation and flying tests ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
This study proposes a universal (U)-control enhanced with dynamic inversion for a class of multiple-input multiple-output (MIMO) quadrotor flight tracking operations. In the technique, a robust compensator is integrated with the U-controller to achieve stabilisation at the equilibrium and setpoint tracking in the presence of any unmodelled uncertainties and external disturbances. A series of bench tests of simulated and real experiments on a Parrot Mambo quadrotor are conducted to show the design framework from the academic formulation to Simulink simulation and real flight tests. more...
- Published
- 2024
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