Adaptive Augmentation of Incremental Nonlinear Dynamic Inversion for Microquadrotor Aerobatic Flight Control

In this work, we address the aerobatic flight control problem of micro-quadrotor unmanned aerial vehicles (UAVs) under gust disturbances. We propose a control framework based on a dual-loop cascaded architecture. The outer loop employs incremental nonlinear dynamic inversion (INDI) to achieve angular rate stabilization and tracking, whereas the inner loop integrates anL1adaptive controller to augment the baseline controller. This adaptive augmentation effectively compensates for unmodeled aerodynamic effects, sensor noise, and control latency without relying on the conventional “linearity-in-parameters” assumption. Theoretical analysis establishes closed-loop stability and guar antees rapid convergence to reference angular rates. Extensive experimental comparisons across four aerobatic maneuvers reveal that the proposed control scheme significantly improves tracking performance under gust disturbances.