An Improved Nonlinear Dynamic Inversion Method for Altitude and Attitude Control of Nano Quad-Rotors under Persistent Uncertainties

• DOI: 10.16356/j.1005-1120.2018.03.483
• Publication Date: 2018-10-10
• Authors: Meili Chen; Wang Yuan
• Keywords: Robustness

Nonlinear dynamic inversion (NDI) has been applied to the control law design of quad-rotors mainly thanks its good robustness and simplicity parameter tuning. However, weakness relying on accurate model greatly restrains application quad-rotors, especially nano (NQRs).NQRs are easy be influenced by uncertainties such as (mainly from complicated aerodynamic interferences, strong coupling in roll-pitch-yaw channels inaccurate prediction rotors) external winds or gusts), particularly persistent ones.Therefore, developing for altitude attitude NQRs is difficult. To solve this problem, paper, an improved nonlinear (INDI)method developed, which can reject above-mentioned estimating them then counteracting real time using linear extended state observer (LESO). Comparison with traditional NDI(TNDI) method was carried out numerically, results show that, coping uncertainties, INDI-based presents significant superiority.