What is it about?
The Nonlinear Dynamic Inversion(NDI) control is powerful control method for agile precise movement of multirotor UAVs. 3-loop autopilot-based NDI controller is the one of the NDI controller which can be easily diverged by time delay effects. The proposed NDI controller can mitigate the time delay effects easily by a lead compensator approach. This controller is verified through simulation and flight tests using embedded UAV platforms.
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This page is a summary of: Mitigating Time-Delay in Nonlinear Dynamics Inversion for Multirotor Unmanned Aerial Vehicles, Journal of Guidance Control and Dynamics, February 2024, American Institute of Aeronautics and Astronautics (AIAA),
DOI: 10.2514/1.g007567.
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