Quadrotor Aggressive Control Based on Angular Acceleration Feedback and High-Fidelity Propulsion Model

Aiming at quadrotor aggressive flight control, this article proposes an angular acceleration control framework based on incremental nonlinear dynamic inversion (INDI). A theoretical Lyapunov analysis is conducted, indicating that both angular acceleration feedback delay and the accuracy of the propulsion model are critical to superior control performance. Hence, the control scheme is organized as follows: First, a sensor-based angular acceleration feedback is introduced in this framework to reduce oscillation and improve control stability. Second, a high-fidelity full-envelop propulsion model is established with a wind tunnel test to enhance incremental accuracy. Finally, a series of outdoor flight tests are conducted. The test results and quantitative evaluations demonstrate the promotion of disturbance rejection capability and aggressive flight performance.