@inproceedings{d26f6b3affe44c1cb4d1381225c94cb0,
title = "Attitude Control Design of Bi-copter Using Incremental Nonlinear Dynamic Inversion Approach",
abstract = "Bi-copter UAVs have similar levels of versatility and are more energetically efficient than quadrotors. However, they are more difficult to control as the servo will lead to a non-minimum phase and are sensitive to shifts in the center of gravity. In this paper, we construct the incremental nonlinear dynamic inversion (INDI) attitude controller to linearize the nonlinear dynamics into a linear input-output map in an incremental form. We start by deriving the incremental dynamic of the bi-copter and combining it with the geometric controller to avoid the singularities. Then, the state estimator is designed based on the control allocator to provide angular acceleration estimation. Finally, comparative experiments demonstrate the improvements over a conventional geometry controller.",
keywords = "Bi-copter, INDI, flight control",
author = "Jiesong Yang and Yingxun Wang and Zhihao Cai",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2212-2\_33",
language = "英语",
isbn = "9789819622115",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "328--336",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 4",
address = "德国",
}