Abstract
This paper investigates the application of nonlinear dynamic inversion (DI) control to the experimental flight of a Single Coaxial Rotor (SCR) Unmanned Aerial Vehicle (UAV) conducted in the indoor flight facility of the National Defense Academy (NDA) of Japan. The DI controller is constructed from a nonlinear dynamical model of the SCR UAV including a stabilizer bar effect. Feasibility of the approach is verified by numerical simulation before the actual flight experiment. Additionally, the DI controller is used for hovering flight, Figure-L maneuvers, and obstacle avoidance maneuvers. Experimental results validate the numerical simulations of the DI controller indicating accurate results within an expected tolerance.
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