A neural network replaces sensor-based residual computation in INDI controllers for quadrotors, enabling equivalent trajectory tracking performance without rotor RPM measurements, demonstrated experimentally with and without slung payloads.
Robot operating system 2: Design, architecture, and uses in the wild,
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Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads
A neural network replaces sensor-based residual computation in INDI controllers for quadrotors, enabling equivalent trajectory tracking performance without rotor RPM measurements, demonstrated experimentally with and without slung payloads.