对比两种飞行器控制方法，发现INID更抗干扰。
A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
- 用增量非线性动态逆法和带扰动观测器的非线性动态逆进行对比
- 在参数变化、外部干扰下，INDI表现更稳定可靠
- 适合追求鲁棒性的无人机控制系统设计者参考
本文通过仿真对比了增量非线性动态逆（INDI）与基于非线性扰动观测器的非线性动态逆（NDI+NDO）在全驱动飞行机器人中的鲁棒性表现。在多种典型工况下的系统仿真显示，当存在模型不匹配或多重应力时，INDI展现出更强的鲁棒性；而NDI+NDO虽在理想条件下性能接近最优，但在非理想条件下敏感性更高。研究结果为飞行机器人中增量式与观测器增强型逆控策略的优劣提供了实用依据。
原文摘要 · Abstract (English)
This work presents a simulation-based comparative robustness analysis of Incremental Nonlinear Dynamic Inversion (INDI) and Nonlinear Dynamic Inversion augmented with a nonlinear disturbance observer (NDI+NDO) for fully actuated aerial robots. A systematic simulation campaign across representative operating scenarios is conducted, where we compare tracking performance, robustness, control effort, under parametric variations, external disturbances, and measurement noise. Results show that INDI demonstrates stronger robustness in several model-mismatch and combined-stress cases, while NDI+NDO primarily matches nominal performance but exhibits greater sensitivity under several non-ideal conditions. These findings provide practical guidance on the relative strengths and limitations of incremental and observer-based inversion strategies for aerial robotic applications.
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