Robust Trajectory-Tracking for a Bi-Copter Drone Using INDI: A Gain Tuning Multi-Objective Approach

This paper presents an optimized robust trajectory control system for an autonomous tiltrotor bi-copter based on an incremental nonlinear dynamic inversion (INDI) strategy combined with a set of PID/PD controllers. The methodology includes a lower level, fast attitude control action using an increme...

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Principais autores:	Maryam Taherinezhad, Alejandro Ramirez-Serrano, Arian Abedini
Format:	Artigo
Jezik:	Inglês
Izdano:	MDPI AG 2022-08-01
Serija:	Robotics
Teme:	tiltrotor bi-copter drone INDI trajectory tracking optimization NSGA-II sigma-pi neural network
Online dostop:	https://www.mdpi.com/2218-6581/11/5/86
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