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.
Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehi- cles,
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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.