Non-Cascaded Dynamic Inversion Design for Quadrotor Position Control with L1 Augmentation

This paper presents a position control design for quadrotors, aiming to exploit the physical capability and maximize the full control bandwidth of the quadrotor. A non-cascaded dynamic inversion design structure is proposed for the baseline controller, augmented by an L_1 adaptive control in the rotational dynamics. A new implementation technique is presented in the reference model and error controller; so that nonlinear states can be limited according to their physical constraints without causing any inconsistency. The L_1 adaptive control is derived to compensate plant uncertainties like inversion error, disturbances, and parameter changes. Simulation and flight tests have been performed to verify the effectiveness of the designs and the validity of the approach.