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 accelerometer and gyroscope mea- surements that incorporate information from appropriate models. The performance of the proposed controller is demonstrated in ight.     «

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...     »