Bio-inspired Landing of Quadrotor using Improved State Estimation

Das, Hemjyoti; Sridhar, Kaustubh; Padhi, Radhakant

doi:10.1016/j.ifacol.2018.05.078

Cited by 6 publications

(1 citation statement)

References 14 publications

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“…Incremental Nonlinear Dynamic Inversion (INDI) is a recently developed control-technique, which has been used widely for aerospace applications [11]. It is more robust compared to NDI [16] in handling external disturbances and system uncertainties, due to its marginal dependency on the plant dynamics. The basic principle of INDI is that it combines the advantages of model inversion with that of incremental approach to result in a control-command that relies mores on the accuracy of the sensor feedback and depends less on the system-dynamics.…”

Section: Incremental Nonlinear Dynamic Inversion Control (Indi)mentioning

confidence: 99%

Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators

Das

Pool

Kampen

2021

2021 European Control Conference (ECC)

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Pneumatic cylinders provide an environmentfriendly actuation means by minimizing the leakage of any harmful industrial fluids, as occurs for hydraulic actuators. However, pneumatic actuation has not been utilized widely for industrial servo applications due to its highly nonlinear nature. Incremental nonlinear dynamic inversion (INDI) is a form of nonlinear dynamic inversion (NDI) that relies less on plantmodel information, and is thus inherently robust to mismatches in the known plant-model, and also to external disturbances. Developing an incremental nonlinear controller for a pneumatic system is the main focus of this research article, which is accomplished by utilizing a cascaded-control approach, where the inner-loop INDI tracks a given force and the outer-loop NDI is for controlling the piston-position. Moreover, realistic sensor noises have been added in the simulation and the robustness of the incremental approach is demonstrated with respect to a baseline PID controller.

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Section: Incremental Nonlinear Dynamic Inversion Control (Indi)mentioning

confidence: 99%