Ahtisham Lone
Dynamic inversion-enhanced U-control of quadrotor trajectory tracking
Lone, Ahtisham; Zhu, Quanmin; Nemati, Hamidreza; Mercorelli, Paolo
Authors
Quan Zhu Quan.Zhu@uwe.ac.uk
Professor in Control Systems
Hamidreza Nemati Hamidreza.Nemati@uwe.ac.uk
Lecturer in Aerospace Engineering
Paolo Mercorelli
Abstract
This study proposes a universal (U)-control enhanced with dynamic inversion for a class of multiple-input multiple-output (MIMO) quadrotor flight tracking operations. In the technique, a robust compensator is integrated with the U-controller to achieve stabilisation at the equilibrium and setpoint tracking in the presence of any unmodelled uncertainties and external disturbances. A series of bench tests of simulated and real experiments on a Parrot Mambo quadrotor are conducted to show the design framework from the academic formulation to Simulink simulation and real flight tests.
Journal Article Type | Article |
---|---|
Acceptance Date | Oct 16, 2024 |
Online Publication Date | Oct 18, 2024 |
Publication Date | Oct 18, 2024 |
Deposit Date | Nov 6, 2024 |
Publicly Available Date | Nov 8, 2024 |
Journal | Drones |
Electronic ISSN | 2504-446X |
Publisher | MDPI |
Peer Reviewed | Peer Reviewed |
Volume | 8 |
Issue | 10 |
Article Number | 599 |
DOI | https://doi.org/10.3390/drones8100599 |
Keywords | quadrotor control, trajectory tracking, U-dynamic inversion, simulation and flying tests, quadrotor UAV, U-model realisation |
Public URL | https://uwe-repository.worktribe.com/output/13403385 |
Files
Dynamic inversion-enhanced U-control of quadrotor trajectory tracking
(1.2 Mb)
PDF
Licence
http://creativecommons.org/licenses/by/4.0/
Publisher Licence URL
http://creativecommons.org/licenses/by/4.0/
You might also like
U-model-based dynamic inversion control for quadrotor UAV systems
(2024)
Book Chapter
Multibody simulations of distributed flight arrays for Industry 4.0 applications
(2024)
Book Chapter