Dynamic inversion-enhanced U-control of quadrotor trajectory tracking

Lone, Ahtisham; Zhu, Quanmin; Nemati, Hamidreza; Mercorelli, Paolo

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