Print Email Facebook Twitter Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection Title Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection Author Smeur, E.J.J. (TU Delft Control & Simulation) de Croon, G.C.H.E. (TU Delft Control & Simulation) Chu, Q. P. (TU Delft Control & Simulation) Date 2018-04-01 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. Subject Disturbance rejectionIncremental controlQuadrocopterWind gustsWindtunnel free flight To reference this document use: http://resolver.tudelft.nl/uuid:3079ef6f-907b-4b55-b21f-4a3ad8b65401 DOI https://doi.org/10.1016/j.conengprac.2018.01.003 Embargo date 2020-04-01 ISSN 0967-0661 Source Control Engineering Practice, 73, 79-90 Part of collection Institutional Repository Document type journal article Rights © 2018 E.J.J. Smeur, G.C.H.E. de Croon, Q. P. Chu Files PDF root2.pdf 2.86 MB Close viewer /islandora/object/uuid:3079ef6f-907b-4b55-b21f-4a3ad8b65401/datastream/OBJ/view