Attitude Control of a Small Helicopter UAV using Incremental Nonlinear Dynamic Inversion

This paper presents an attitude controller for a small helicopter Unmanned Aerial Vehicle (UAV) based on Incremental Nonlinear Dynamic Inversion (INDI). INDI is a sensor-based control method which responds quickly to the commanded input, but also to disturbances. While previous implementations of INDI used a control effectiveness matrix...