Implementation and Tests of an INDI Control Strategy applied to the Parrot Mambo Minidrone

In this work, a flight control scheme based on incremental nonlinear dynamic inversion (INDI) is implemented within the Mathworks Simulink environment dedicated to the Parrot Mambo minidrone. This implementation is tested both in simulation and in real-life tests, and compared to the original cascade PID control structure. Trajectory tracking, robustness to modeling uncertainties and instrumentation issues are discussed. The resulting implementation can be used for educational purposes related to feedback linearization and the INDI controller in flight control applications.