A neural network replaces sensor-based residual computation in INDI controllers for quadrotors, enabling equivalent trajectory tracking performance without rotor RPM measurements, demonstrated experimentally with and without slung payloads.
Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots
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Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads
A neural network replaces sensor-based residual computation in INDI controllers for quadrotors, enabling equivalent trajectory tracking performance without rotor RPM measurements, demonstrated experimentally with and without slung payloads.