Quadrotor fault-tolerant incremental nonsingular terminal sliding mode control

This paper proposes incremental nonsingular terminal sliding mode control for a class of multi-input and multi-output nonlinear systems considering model uncertainties, external disturbances, and sudden actuator faults. This method is free from singularity because it does not involve any negative fractional power. The convergence time in both...

Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection

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...