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Titel:

Incremental Dynamic Inversion based Velocity Tracking Controller for a Multicopter System

Dokumenttyp:
Konferenzbeitrag
Autor(en):
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...     »
Kongress- / Buchtitel:
2018 AIAA Guidance, Navigation and Control Conference
Jahr:
2018
Nachgewiesen in:
Scopus; Web of Science
Volltext / DOI:
doi:10.2514/6.2018-1345
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