Accurate Tracking of Aggressive Quadrotor Trajectories using INDI and Differential Flatness
This video showcases experiments for our recent paper entitled "Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness." The paper is available at http://arxiv.org/abs/1809.04048
In the paper, we propose a novel control law for accurate tracking of aggressive quadcopter trajectories. The proposed method tracks position and yaw angle with their derivatives of up to fourth order, specifically, the position, velocity, acceleration, jerk, and snap along with the yaw angle, yaw rate and yaw acceleration. The controller utilizes the incremental nonlinear dynamic inversion (INDI) method for accurate tracking of linear and angular accelerations despite external disturbances. Hence, no prior modeling of aerodynamic effects is required. The proposed control law enables our quadcopter UAV to track complex 3D trajectories, reaching speeds up to 12.9 m/s and accelerations over 2g, while keeping the root-mean-square tracking error down to 6.6 cm.