Actuator Saturation Handling using Weighted Optimal Control Allocation Applied to an INDI Controlled Quadcopter

Incremental Nonlinear Dynamic Inversion provides a high performance attitude controller for multi-rotor Micro Aerial Vehicles by providing very good disturbance rejection capabilities. Flights conducted with a quadcopter revealed undesired pitch and rolling motions which occurred simultaneously with actuator saturation for instantaneous yaw...

Intelligent Controller Selection for Aggressive Quadrotor Manoeuvring: A reinforcement learning approach

A novel intelligent controller selection method for quadrotor attitude and altitude control is presented that maintains performance in different regimes of the flight envelope. Conventional quadrotor controllers can behave insufficiently during aggressive manoeuvring, in extreme angles the quadrotor is unable to maintain height which may result...