Optical flow-based control for micro air vehicles: an efficient data-driven incremental nonlinear dynamic inversion approach

Abstract

This paper proposes an innovative approach for optical flow-based control of micro air vehicles (MAVs), addressing challenges inherent in the nonlinearity of optical flow observables. The proposed incremental nonlinear dynamic inversion (INDI) control scheme employs an efficient data-driven approach to directly estimate the inverse of the time-varying INDI control effectiveness in real-time. This method eliminates the constant effectiveness assumption typically made by traditional INDI methods and reduces the computational burden associated with inverting this variable at each time step. It effectively handles rapidly changing system dynamics, often encountered in optical flow-based control, particularly height-dependent control variables. Stability analysis of the proposed control scheme is conducted, and its robustness and efficiency are demonstrated through both numerical simulations and real-world flight tests. These tests include multiple landings of an MAV on a static, flat surface with several different tracking setpoints, as well as hovering and landings on moving and undulating surfaces. Despite the challenges posed by noisy optical flow estimates and lateral or vertical movements of the landing surfaces, the MAV successfully tracks or lands on the surface with an exponential decay of both height and vertical velocity almost simultaneously, aligning with the desired performance.