# Quadrotor Attitude Control using Incremental Nonlinear Dynamics Inversion

### Rodrigo Coelho, Alexandra Moutinho, José Raul Azinheira

#### Abstract

Given the large flight envelope of vertical take-off and landing vehicles, and the nonlinear nature of multi-rotor aircraft, especially in aggressive maneuvering, nonlinear control strategies are often considered. Yet, most available solutions are model dependent and thus require a precise knowledge of the system dynamics, including the hard to model aerodynamics. This paper proposes a sensor-based approach to the problem. It considers a recent strategy based on incremental control and Nonlinear Dynamics Inversion (NDI), the Incremental Nonlinear Dynamics Inversion (INDI), to solve the attitude control problem of quadrotors. The INDI general formulation is presented, and then applied considering the attitude stabilization of a quadrotor. In order to apply the INDI solution to this case study, a linear predictor for the angular acceleration is provided. Simulation results demonstrate the robustness of this sensor-based approach to model-parameter uncertainties and wind disturbances. An analysis is also done regarding the tuning of INDI parameters and its sensitivity to the chosen sampling time.

Download#### Paper Citation

#### in Harvard Style

Coelho R., Moutinho A. and Azinheira J. (2017). **Quadrotor Attitude Control using Incremental Nonlinear Dynamics Inversion** . In *Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,* ISBN 978-989-758-264-6, pages 98-109. DOI: 10.5220/0006435900980109

#### in Bibtex Style

@conference{icinco17,

author={Rodrigo Coelho and Alexandra Moutinho and José Raul Azinheira},

title={Quadrotor Attitude Control using Incremental Nonlinear Dynamics Inversion},

booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

year={2017},

pages={98-109},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0006435900980109},

isbn={978-989-758-264-6},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,

TI - Quadrotor Attitude Control using Incremental Nonlinear Dynamics Inversion

SN - 978-989-758-264-6

AU - Coelho R.

AU - Moutinho A.

AU - Azinheira J.

PY - 2017

SP - 98

EP - 109

DO - 10.5220/0006435900980109