Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

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)

2016

Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control technique that can control nonlinear systems subject to disturbances. This method was developed for the attitude control of MAVs, but in this paper we generalize this method to the outer loop control of MAVs under gust loads. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the drone flies in and out of a fan's wake. The control method does not rely on frequent position updates, so it is ready to be applied outside with standard GPS modules.

Acceleration
Rotors
Wind
Drones
Force
Atmospheric modeling

http://resolver.tudelft.nl/uuid:2781bace-b00f-4de2-a52a-bd869a349145

https://doi.org/10.1109/IROS.2016.7759827

2017-11-01

978-1-5090-3763-6

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, Korea

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, 2016-10-09 → 2016-10-14, Daejeon, Korea, Republic of

Institutional Repository

conference paper

© 2016 E.J.J. Smeur, G.C.H.E. de Croon, Q. P. Chu