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 novel noncascaded dynamic inversion design is used for the baseline control, augmented by an L1 adaptive control in the rotational dynamics. A new implementation technique is developed in the linear reference model and error controller; so that without causing any inconsistency, nonlinear states can be limited to their physical constraints. The L1 adaptive control is derived to compensate plant uncertainties like inversion error, disturbances, and parameter changes. Simulation and experiment tests have been performed to verify the effectiveness of the designs and the validity of the approach.