This paper presents an optimized robust trajectory control system for an autonomous tiltrotor bi-copter based on an incremental nonlinear dynamic inversion (INDI) strategy combined with a set of PID/PD controllers. The methodology includes a lower level, fast attitude control action using an incremental nonlinear dynamic inversion (INDI) strategy, which is driven by a higher level, slow trajectory control action that uses nonlinear dynamic inversion (NDI). The nonlinear dynamic model of the drone is derived, and the basis of the motion and the design of the attitude and position stabilizing controllers are discussed. To develop and test the suggested controller, a circle-shaped flight profile is simulated. The linear control providing inputs to the NDI and INDI controllers is tuned via a novel multi-objective optimization auto-tuning method using the non-dominated sorting genetic algorithm II (NSGA-II). The tracking and disturbance rejection optimization is achieved via the use of the integral of time multiplied by the absolute error (ITAE) and the integral of the square of the error (ISE) objective functions, which are optimized concurrently. The simulation results reveal that the proposed control design outperforms the traditional dynamic inversion controller design and demonstrate that the developed INDI + PID/PD controller possesses exceptional accuracy and performance, enabling the tiltrotor bi-copter to track the given trajectory. Furthermore, the paper shows that the proposed controller produces 40% lower overshoot and settling time as measured with respect to previous backstepping controllers reported in the literature. The robustness of the controller is validated through diverse tests where the aircraft is subjected to external (wind gust) disturbances.
In this paper, a new control architecture is proposed to enable advanced Unmanned Aerial Vehicles to maneuver inside confined spaces to perform operations in Urban Search and Rescue missions and hazardous industrial spaces where sending humans is highly risky. The proposed controller is tested on a revolutionary highly maneuverable VTOL system first conceptualized by 4Front Robotics Ltd. presenting highly coupled dynamics enabling it to perform unique maneuvers such as pitch hover. To deal with the associated complexities and coupling motion effects inherent to such aircraft, a Nonlinear Dynamic Inversion (NDI) controller developed for position control, coupled with an Incremental Nonlinear Dynamic Inversion (INDI) controller designed for attitude control is described. The results for different flight maneuvers demonstrate effective the ability of the controller to control the position and orientation independently while tracking complex trajectories.
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