Dynamic Inversion-Enhanced U-Control of Quadrotor Trajectory Tracking
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
Authors
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.
| Originalsprache | Englisch | 
|---|---|
| Aufsatznummer | 599 | 
| Zeitschrift | Drones | 
| Jahrgang | 8 | 
| Ausgabenummer | 10 | 
| Anzahl der Seiten | 24 | 
| DOIs | |
| Publikationsstatus | Erschienen - 18.10.2024 | 
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