Dynamic Inversion-Enhanced U-Control of Quadrotor Trajectory Tracking

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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.

Original languageEnglish
Article number599
JournalDrones
Volume8
Issue number10
Number of pages24
DOIs
Publication statusPublished - 18.10.2024

Bibliographical note

Publisher Copyright:
© 2024 by the authors.

    Research areas

  • quadrotor control, quadrotor UAV, simulation and flying tests, trajectory tracking, U-dynamic inversion, U-model realisation
  • Engineering

DOI

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Researchers

  1. Barbara Romero

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