Gust rejection with Incremental Nonlinear Dynamic Inversion (INDI)
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YouTubeMAVLab TU Delft
Gust rejection with Incremental Nonlinear Dynamic Inversion (INDI)
In this experiment, the disturbance rejection performance of Incremental Nonlinear Dynamic Inversion (INDI) is compared with traditional PID control. In both cases the attitude is controlled with the same INDI controller. For the position control, INDI relies on the accelerometer to measure disturbances. The current inputs are then incremented ...
5.2K viewsMar 15, 2018
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