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Title:

Incremental Dynamic Inversion based Velocity Tracking Controller for a Multicopter System

Document type:
Konferenzbeitrag
Author(s):
Akkinapalli, Venkata Sravan; Holzapfel, Florian
Abstract:
This paper presents a velocity tracking controller using incremental dynamic inver- sion for a multicopter. The incremental controller is robust against uncertainties in steady-state e ects like drag forces and gravitational moments. Furthermore, an inte- grated control allocation scheme is proposed that simultaneously computes commands to the rotational inner-loop and motor commands in a combined allocation. The in- crements are computed using complimentary ltered acceleromete...     »
Book / Congress title:
2018 AIAA Guidance, Navigation and Control Conference
Year:
2018
Covered by:
Scopus; Web of Science
Fulltext / DOI:
doi:10.2514/6.2018-1345
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