Accurate Tracking of Aggressive Quadrotor Trajectories Using Incremental Nonlinear Dynamic Inversion and Differential Flatness

摘要: Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years. This article focuses on accurate tracking of quadcopter trajectories. We propose a novel control law for position yaw angle their derivatives up to fourth order, specifically velocity, acceleration, jerk, snap along with rate acceleration. Jerk are tracked using feedforward inputs angular acceleration based differential flatness dynamics. Snap requires direct body torque, which we achieve closed-loop motor speed measurements from optical encoders attached motors. The controller utilizes incremental nonlinear dynamic inversion (INDI) robust linear accelerations despite external disturbances, such as aerodynamic drag forces. Hence, prior modeling effects is not required. rigorously analyze proposed through response analysis demonstrate it experiments. enables UAV track complex 3-D trajectories, reaching speeds 12.9 m/s 2.1 g, while keeping root-mean-square error down 6.6 cm, flight volume roughly 18 m $\times 7$ 3-m tall. also robustness by attaching plate tests pulling rope during hover.