Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads

摘要

The increasing complexity of multirotor applications demands flight controllers that can accurately account for all forces acting on the vehicle. Conventional controllers model most aerodynamic and dynamic effects but often neglect higher-order forces, as their accurate estimation is computationally expensive. Incremental Nonlinear Dynamic Inversion (INDI) offers an alternative by estimating residual forces from differences in sensor measurements; however, its reliance on specialized and often noisy sensors limits its applicability. Recent work has demonstrated that residual forces can be predicted using learning-based methods. In this paper, we show that a neural network can generate smooth approximations of INDI outputs without requiring specialized rotor RPM sensor inputs. We further propose a hybrid approach that integrates learning-based predictions with INDI and demonstrate both methods for multirotors and multirotors carrying slung payloads. Experimental results on trajectory tracking errors demonstrate that the specialized sensor measurements required by INDI can be eliminated by replacing the residual computation with a neural network.