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<p>Incremental nonlinear dynamic inversion (INDI) controllers effectively handle disturbances and model uncertainties using angular acceleration feedback. However, conventional INDI methods face challenges in quadrotor and hexacopter UAVs, such as the need for a pseudo-inverse matrix and the lack of clear guidelines for selecting baseline proportional control gains, which are crucial for stable flight. This paper proposes a torque-based INDI controller, eliminating the need for a pseudo-inverse matrix by estimating real-time torques. It also provides practical guidelines for selecting control gains based on the system’s mass moment of inertia, enabling stable initial flight tests. The proposed method is validated through flight tests on a slung-load system with disturbances, demonstrating its robustness and effectiveness.</p>

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Torque-based INDI for UAV Control: Eliminating Pseudo-inverses and Improving Control Gain Selection

  • 期刊论文

  • 发表日期：

    2025年9月9日

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  • Hoijo Jeong,
  • Yechan Yang,
  • Seonghyeon Park,
  • Jiwoo Choi,
  • Yeji Kim,
  • Yunseob Kim,
  • Jinyoung Suk,
  • Seungkeun Kim

摘要

Incremental nonlinear dynamic inversion (INDI) controllers effectively handle disturbances and model uncertainties using angular acceleration feedback. However, conventional INDI methods face challenges in quadrotor and hexacopter UAVs, such as the need for a pseudo-inverse matrix and the lack of clear guidelines for selecting baseline proportional control gains, which are crucial for stable flight. This paper proposes a torque-based INDI controller, eliminating the need for a pseudo-inverse matrix by estimating real-time torques. It also provides practical guidelines for selecting control gains based on the system’s mass moment of inertia, enabling stable initial flight tests. The proposed method is validated through flight tests on a slung-load system with disturbances, demonstrating its robustness and effectiveness.