Due to the lack of compact and accurate models for computing the aerodynamic moment on ducted fan, existing model-based control approaches hardly achieve satisfactory performance on the attitude control of ducted fan unmanned aerial vehicles (UAVs), especially in the presence of disturbance. Alternatively, we can transition towards a sensor-based approach, namely incremental nonlinear dynamic inversion (INDI), which requires less modeling of the system dynamics. In this paper, we propose an attitude controller for a small ducted fan UAV using INDI. In the INDI design, the system nonlinearities and the effects from disturbance could be well compensated via high-frequency sensor data sampling. Furthermore, this study demonstrates how INDI provides an essential interface for control allocation in ducted fan UAVs, where actuators are typically redundantly configured, leading to significant control allocation challenges. In the control allocation design, we propose a prioritized control allocation (PCA) algorithm by which the linearization from INDI is to be attained in priority, aiming to sustain the stability of the closed-loop system. Finally, the proposed INDI+PCA approach is validated through several comparative experiments, achieving satisfactory results in both reference tracking and disturbance rejecting.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Attitude Control of Ducted Fan UAV Based on INDI and Priority Control Allocation


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Shan, Xilong (author) / Pei, Hailong (author) / Cheng, Zihuan (author) / Meng, Chaoheng (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-04


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






    Verbundprojekt: INDI : Schlussbericht INDI

    Moder, Christoph | TIBKAT | 2018


    Ducted aircraft and attitude control method thereof

    WANG JUNYUAN / WANG HAITONG / FENG TAO et al. | European Patent Office | 2024

    Free access

    Decoupled Geometric Control of the Quadrotor UAV Based on INDI

    Hu, Jinghe / Xian, Bin | Springer Verlag | 2025