Robust Decoupled Geometric Control for the Quadrotor UAV’s Agile Flight Via Incremental Nonlinear Dynamic Inversion
Hu Jinghe, Xian Bin, Jiang Pengzhi · 2024
This paper introduces a robust decoupled geometric controller that utilizes the error sign function, and achieves accurate linearization of the nonlinear dynamic model by using incremental nonlinear dynamic inversion (IDNI). This method can decrease the effects of unknown external disturbances and enhances the robustness of position and attitude control of the quadrotor unmanned aerial vehicle (UAV). The decoupled geometric control algorithm based on IDNI enables agile tracking of the UAV’s attitude. The proposed approach can deal with the problems associated with the UAV’s attitude representation in Euler angles. In contrast to geometric controller that depicted in $\mathrm{SO}(3)$, the algorithm proposed in this paper is able to accomplish the separation of yaw channel and roll/pitch channel controls, resulting in improved tracking performance during high-speed flight. The Robust-Integral-Sign Error(RISE) controller is employed to efficiently decrease modeling uncertainties and unknown external disturbances. Lyapunov based stability analysis proves the asymptotic convergence of the attitude and position tracking errors. The proposed controller guarantees the gradual reduction of attitude and position tracking errors for the UAV. The simulation results verify that the controller proposed in this paper can obtain good tracking performance in the agile fight.