Accurate Tracking of Aggressive Quadrotor Trajectories Using Incremental Nonlinear Dynamic Inversion and Differential Flatness - Tal, Ezra; Karaman, Sertac (IEEE transactions on control systems technology, 2021)
Keywords: Acceleration; Aerodynamic drag; Aerodynamics; Aggressive maneuvering; Aircraft; Angular acceleration; Coders; Control theory; Controllers; differential flatness; Drag; drone racing; Dynamic inversion; Flatness; flight control; Flight tests; incremental control; Maneuvers; nonlinear dynamic inversion (NDI); Nonlinear dynamical systems; Nonlinear dynamics; Optical encoders; quadcopter; Robust control; Robustness; Speed control; Tracking control; Tracking errors; Trajectories; Trajectory; trajectory following; Unmanned aerial vehicles; Vehicle dynamics; Yaw