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.
Accurate tracking of aggressive quadrotor trajectories using incremental nonlinear dynamic inversion and differ- ential flatness,
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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.