Robust ${\mathcal{H}}_{\infty }$ Controller Design For INDI-Controlled Quadrotor Using Online Parameter Identification

Tom Aantjes, Till M. Blaha, Spilios Theodoulis +1

It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second,…