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This paper presents a novel approach for optical flow control of Micro AirVehicles (MAVs). The task is challenging due to the nonlinearity of opticalflow observables. Our proposed Incremental Nonlinear Dynamic Inversion (INDI)control scheme incorporates an efficient data-driven method to address thenonlinearity. It directly estimates the inverse of the time-varying controleffectiveness in real-time, eliminating the need for the constant assumptionand avoiding high computation in traditional INDI. This approach effectivelyhandles fast-changing system dynamics commonly encountered in optical flowcontrol, particularly height-dependent changes. We demonstrate the robustnessand efficiency of the proposed control scheme in numerical simulations and alsoreal-world flight tests: multiple landings of an MAV on a static and flatsurface with various tracking setpoints, hovering and landings on moving andundulating surfaces. Despite being challenged with the presence of noisyoptical flow estimates and the lateral and vertical movement of the landingsurfaces, the MAV is able to successfully track or land on the surface with anexponential decay of both height and vertical velocity at almost the same time,as desired.

Incremental Nonlinear Dynamic Inversion based Optical Flow Control for Flying Robots: An Efficient Data-driven Approach