Inverse dynamics based aerodynamic, gyroscopic, and rotor effects’ compensation in constrained trajectory synthesis for multi-copters

The performance of an uncrewed aerial system (UAS) operating nominally in an indoor/outdoor environment depends upon the available power, and how well the system reacts to disturbances and nonlinear dynamic effects. This paper focuses on development of approaches to compensate for nonlinear dynamic effects due to aerodynamics, gyroscopic coupling, and rotor induced rolling effects in deriving aggressive multi-copter trajectories. A thrust constrained multi-copter is adopted for verifying the compensation, that is achieved through an optimal trajectory synthesis formulation. It is shown that the compensation approach yields precise and aggressive trajectory tracking for the multi-copter flight in and out of indoor environments, such as windows and other constrained openings.