Advanced quadrotor takeoff control based on incremental nonlinear dynamic inversion and integral extended state observer

This paper presents an advanced control scheme for quadrotor taking off process. Firstly a high-fidelity model is established, with Coriolis force, gyro effect, and ground effect taken into account. Then the quadrotor control system is decoupled into three control loops, which are position loop, angle loop, and inner loop. Dynamic inversion (DI) is applied to design control laws for both the position and the angle loops. Incremental nonlinear dynamic inverse (INDI) control law is furtherly developed to cope with non-affine form of the inner loop. To realize disturbance rejection and the measurement noise attenuation, integral extended state observer (IESO) is combined in this control scheme. Besides, arranged transient process technique (ATP) is utilized in the control scheme to smooth huge-jump desired input and connect different loops with feasible transient process. Finally, through series of simulations the effectiveness of the control scheme, as well as robustness against external disturbances and measurement noise are validated.

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