Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control technique that can control nonlinear systems subject to disturbances. It was developed for the attitude control of manned aircraft or MAVs. In this paper we generalize this method to the outer loop control of MAVs under severe gust loads. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the quadrotor flies in and out of a windtunnel exhaust at 10 m/s. The control method does not rely on frequent position updates, as is demonstrated in an outside experiment using a standard GPS module. Finally, we investigate the effect of using a linearization to calculate thrust vector increments, compared to a nonlinear calculation. The method requires little modeling and is computationally efficient.
翻译:微航空飞行器(MAVs)在室外操作受到限制,因为其承受风螺的能力受到阻力,因此在室外操作受到限制。目前,比例综合衍生控制等广泛位置控制方法在螺旋的影响下效果不佳。递增非线性动态反转(INDI)是一种以传感器为基础的控制技术,可以控制受到扰动的非线性系统。它是为载人飞机或MAV的姿态控制而开发的。在本文中,我们将这种方法推广到在严重螺旋负荷下对MAV的外环控。传统的比例性综合衍生控制器(PID)有了重大改进。在一次实验中演示了传统的比例性综合衍生控制器(PID)的显著改进。在10米/秒/秒的风洞排中飞出和飞出,这种控制方法并不依赖频繁的定位更新,正如使用标准的全球定位系统模块进行的外部实验所显示的那样。最后,我们研究了使用线性化计算推量矢量递增的效果,而不是非线性计算。这种方法需要很少做模型和计算效率。