Meta-Learning-Based Incremental Nonlinear Dynamic Inversion Control for Quadrotors with Disturbances
Xinyue Zhang, Maopeng Ran · Applied Sciences · 2023
This paper proposes an online meta-learning-based incremental nonlinear dynamic inversion (INDI) control method for quadrotors with disturbances. The quadrotor dynamic model is first transformed into linear form via an INDI control law. Since INDI largely depends on the accuracy of the control matrix, a method composed of meta-learning and adaptive control is proposed to estimate it online. The effectiveness of the proposed control framework is validated through simulation on a quadrotor with 3D wind disturbances.