Dynamic Inversion-Enhanced U-Control of Quadrotor Trajectory Tracking

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

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.

OriginalspracheEnglisch
Aufsatznummer599
ZeitschriftDrones
Jahrgang8
Ausgabenummer10
Anzahl der Seiten24
DOIs
PublikationsstatusErschienen - 18.10.2024

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© 2024 by the authors.

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