Velocity control design for the small UAV based on the incremental non-linear dynamic inversion

Aiming to solve the low accuracy in the velocity control of the small unmand aerial vehicle (UAV), a velocity control method based on the incremental non-linear dynamic inversion is presented. The velocity control model is firstly constructed based on the UAV movement equation and the thrust model. Secondly, with the application of non-linear dynamic inversion, the direct relation between the throttle command and the velocity is developed. Thirdly, with the UAV movement equation rewritten into the incremental form, the control relation between the throttle command increment and the acceleration is attained and the velocity control law is accordingly designed. A thrust model and a velocity controller based on incremental non-linear dynamic inversion are constructed in a small UAV. The flight test verifies the effectiveness of the proposed method.