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Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e.,high-speed and high-acceleration) maneuvers have attracted significantattention in the past few years. This paper focuses on accurate tracking ofaggressive quadcopter trajectories. We propose a novel control law for trackingof position and yaw angle and their derivatives of up to fourth order,specifically, velocity, acceleration, jerk, and snap along with yaw rate andyaw acceleration. Jerk and snap are tracked using feedforward inputs forangular rate and angular acceleration based on the differential flatness of thequadcopter dynamics. Snap tracking requires direct control of body torque,which we achieve using closed-loop motor speed control based on measurementsfrom optical encoders attached to the motors. The controller utilizesincremental nonlinear dynamic inversion (INDI) for robust tracking of linearand angular accelerations despite external disturbances, such as aerodynamicdrag forces. Hence, prior modeling of aerodynamic effects is not required. Werigorously analyze the proposed control law through response analysis, and wedemonstrate it in experiments. The controller enables a quadcopter UAV to trackcomplex 3D trajectories, reaching speeds up to 12.9 m/s and accelerations up to2.1g, while keeping the root-mean-square tracking error down to 6.6 cm, in aflight volume that is roughly 18 m by 7 m and 3 m tall. We also demonstrate therobustness of the controller by attaching a drag plate to the UAV in flighttests and by pulling on the UAV with a rope during hover.

Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness