Colloquium: Pietro Campolucci (C&O)
18 augustus 2022 14:00 - Locatie: LECTURE ROOM A, FACULTY OF AEROSPACE ENGINEERING, KLUYVERWEG 1, DELFT | Zet in mijn agenda
Model and Actuator Based Trajectory Tracking for Incremental Nonlinear Dynamic Inversion Controllers
This work proposes a new control strategy based on INDI. The controller extends the capabilities of INDI by including actuator dynamics and state dependent compensation terms to reduce the effort of the error controller. Both simulated and real flight tests are conducted on a quadrotor configuration with artificially slowed down actuators and a drag plate mounted on top, to better observe the effect of actuator dynamics and state dependent dynamics in trajectory tracking accuracy. Simulations show that the combination of the two additional features increases tracking accuracy both in the short and long term response. It is also found that an overestimation of the state compensation term leads to instability. Real flight tests show that, as the complexity of the maneuver increases, the less the state compensation term effectively contributes to an improved tracking when the model is incomplete. On the other hand, trajectory tracking accuracy due to the consideration of actuator dynamics shows consistency and improvement with respect to conventional INDI solutions.
Supervisor: Dr. Ir. Ewoud Smeur