TITLE:
Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method
AUTHORS:
Lifeng Wang, Yichong He, Zhixiang Zhang, Congkui He
KEYWORDS:
Aerial Robot; Quadrotor; Nonlinear Model; Dynamic Inversion; Robust Control
JOURNAL NAME:
Intelligent Control and Automation,
Vol.4 No.4,
November
13,
2013
ABSTRACT: This paper presents trajectory tracking control works concerning quadrotor aerial robot with rigid cross structure. The quadrotor consists of four propellers which are two paired clockwise rotate and anticlockwise rotate. A nonlinear dynamic model of the quadrotor is provided, and a controller based on the improved dynamic inverse is synthesized for the purpose of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation that can balance the deviation of model inaccuracy well.