Hierarchical Autopilot Design based on Immersion & Invariance and Nonlinear Internal Model Tracking Controllers for Autonomous system

In this paper, a novel control design is developed for the Octo-rotor using combined controllers based on Immersion and Invariance (I&I) approach for translational trajectory tracking and Nonlinear Internal Model Control (NLIMC) for attitude one. Numerical simulations are performed showing the effectiveness of the proposed control technique in particular under applied disturbances.