Expanding the operational capabilities of Micro Air Vehicles (MAVs) hinges on control systems that manage highly nonlinear dynamics across broad flight envelopes. Incremental Nonlinear Dynamic Inversion (INDI) is popular for its simplicity and modest modeling needs, but its assumption of infinitely fast actuators and neglect of state-dependent effects limit performance when actuators have slow or heterogeneous dynamics or when aerodynamic effects are significant. Actuator Nonlinear Dynamic Inversion (ANDI) overcomes these limitations by explicitly incorporating state-dependent dynamics and finite actuator bandwidth into the control law, enabling improved tracking performance across diverse actuator configurations. This work implements the full ANDI stabilization controller on the Cyclone, a hybrid MAV tail-sitter, using cascaded complementary filtering for state estimation. Simulation and flight experiments validate the approach and assess whether this compensation yields practical performance gains, establishing ANDI as a viable, generic control solution for MAVs
Code is available at:
https://github.com/tudelft/paparazzi/tree/feat_stabilization_andi_controller. ... Read more

The aim of this executive overview is to summarise the content of this extensive report regarding the design of an Landing, Launching and Storage (LLS) system for a soft kite Airborne Wind Energy (AWE) system.
An innovative idea does not translate automatically to financial gain. With new technologies, such as AWEs it is crucial to assess the potential market for a product and the associated economic performance. Four market segments exist for energy generation: on-shore on-grid, on-shore off-grid, off-shore on-grid and off-shore off-grid. AWE performs best in on-shore offgrid applications due to its high mobility, higher capacity factor compared to wind and relatively lower land usage. AWE soft kites are currently targeting 100 kW to 500 kW range, which is currently dominated by medium-power diesel generators. ... Read more