U-model-based dynamic inversion control for quadrotor UAV systems

Lone, Ahtisham Aziz; Nemati, Hamidreza; Zhu, Quanmin; Mercorelli, Paolo; Narayan, Pritesh

Abstract

A Model-Independent Design approach (U-Model) is studied with the example of Quadrotor UAV. A Multiple-Input Multiple-Output (MIMO) dynamic model of a quadrotor UAV is derived, and U-Model-based Dynamic Inverse control approach is used to design a controller, which is made of two parts. The first part consists of a general controller designed independently to guarantee the performance requirements defined in advance. Secondly, this independent controller is then integrated with the inverse of the model. In this chapter, we consider a Parrot Mambo Minidrone as a research subject to simulate and validate the controller performance. The simulations results are presented at the end with graphical illustrations demonstrating the effectiveness of the proposed controller.

• Online Publication Date: Jan 12, 2024
• Publication Date: Jan 12, 2024
• Deposit Date: Feb 24, 2024
• Publisher: Elsevier
• Pages: 293-309
• Book Title: Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
• Chapter Number: 13
• ISBN: 9780323952071
• DOI: https://doi.org/10.1016/C2021-0-02869-8
• Public URL: https://uwe-repository.worktribe.com/output/11746271