TY - JOUR

T1 - Dynamic Inversion-Enhanced U-Control of Quadrotor Trajectory Tracking

AU - Lone, Ahtisham

AU - Zhu, Quanmin

AU - Nemati, Hamidreza

AU - Mercorelli, Paolo

N1 - Publisher Copyright: © 2024 by the authors.

PY - 2024/10/18

Y1 - 2024/10/18

N2 - 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.

AB - 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.

KW - quadrotor control

KW - quadrotor UAV

KW - simulation and flying tests

KW - trajectory tracking

KW - U-dynamic inversion

KW - U-model realisation

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85207652960&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/51dc60a2-cd73-3427-a3fe-333dfbaca581/

U2 - 10.3390/drones8100599

DO - 10.3390/drones8100599

M3 - Journal articles

AN - SCOPUS:85207652960

VL - 8

JO - Drones

JF - Drones

SN - 2504-446X

IS - 10

M1 - 599

ER -