Scholarlink

This paper studies the application of a fast inner-loop controller on top of a Nonlinear Model Predictive Control (NMPC) to increase tracking performances of aerial robots in presence of disturbances and model mismatches. We investigate the use of Incremental Nonlinear Dynamic Inversion (INDI) and Time Delay Control (TDC), discussing their close relations. Finally, a TDC formulation is developed as inner tracking loop running at 1 kHz, and applied to a NMPC. Close-to-real simulations with a fully-actuated hexarotor demonstrates the effectiveness of the inner-loop control and its main drawbacks in presence of input saturation.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Acceleration-Based Inner-Loop Control and MPC for Aerial Robots: Advantages and Drawbacks

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Lorenzo Balandi,
  • Paolo Robuffo Giordano,
  • Marco Tognon

摘要

This paper studies the application of a fast inner-loop controller on top of a Nonlinear Model Predictive Control (NMPC) to increase tracking performances of aerial robots in presence of disturbances and model mismatches. We investigate the use of Incremental Nonlinear Dynamic Inversion (INDI) and Time Delay Control (TDC), discussing their close relations. Finally, a TDC formulation is developed as inner tracking loop running at 1 kHz, and applied to a NMPC. Close-to-real simulations with a fully-actuated hexarotor demonstrates the effectiveness of the inner-loop control and its main drawbacks in presence of input saturation.