Implementation and Tests of an INDI Control Strategy applied to the Parrot Mambo Minidrone

Feedback linearization; flight control; nonlinear dynamic inversion; nonlinear systems; quadcopter; unmanned aerial vehicle; Aerial vehicle; Control schemes; Control strategies; Feedback linearisation; Flight control; Inversion control; Mathworks; Nonlinear dynamic inversion; Quadcopter; Unmanned aerial vehicle; Aerospace Engineering; Mechanical Engineering; Control and Optimization; Modeling and Simulation

Abstract :

[en] In this work, a flight control scheme based on incremental nonlinear dynamic inversion (INDI) is implemented within the Mathworks Simulink environment dedicated to the Parrot Mambo minidrone. This implementation is tested both in simulation and in real-life tests, and compared to the original cascade PID control structure. Trajectory tracking, robustness to modeling uncertainties and instrumentation issues are discussed. The resulting implementation can be used for educational purposes related to feedback linearization and the INDI controller in flight control applications.

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

Delansnay, Gilles ; Université de Mons - UMONS

Wouwer, Alain Vande; University of Mons, System, Estimation, Control and Optimization (SECO), Mons, Belgium

Language :

English

Title :

Implementation and Tests of an INDI Control Strategy applied to the Parrot Mambo Minidrone

Publication date :

26 July 2022

Event name :

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

Event place :

Dubrovnik, Croatia

Event date :

21-06-2022 => 24-06-2022

Audience :

International

Main work title :

2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022

Publisher :

Institute of Electrical and Electronics Engineers Inc.

ISBN/EAN :

978-1-66540-593-5

Peer reviewed :

Peer reviewed

Additional URL :

http://xplorestaging.ieee.org/ielx7/9836022/9835714/09836222.pdf?arnumber=9836222

Research institute :

Energie

Available on ORBi UMONS :

since 23 September 2022

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Bibliography

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