Incremental Nonlinear Dynamic Inversion and Control Allocation for a Tilt Rotor UAV

2014 ◽  
Author(s):  
Gabriele Di Francesco ◽  
Massimiliano Mattei ◽  
Egidio D'Amato
Keyword(s):  
Nonlinear Dynamic ◽  
Dynamic Inversion ◽  
Control Allocation ◽  
Tilt Rotor ◽  
And Control ◽  
Nonlinear Dynamic Inversion

scholarly journals A nonlinear dynamic inversion-based neurocontroller for unmanned combat aerial vehicles during aerial refuelling

2013 ◽  
Vol 23 (1) ◽  
pp. 75-90 ◽  
Author(s):  
Jimoh Olarewaju Pedro ◽  
Aarti Panday ◽  
Laurent Dala
Keyword(s):  
Nonlinear Dynamic ◽  
Dynamic Properties ◽  
Control Strategies ◽  
Time Domain Analysis ◽  
Dynamic Inversion ◽  
Centre Of Gravity ◽  
Aerial Vehicle ◽  
Six Degree Of Freedom ◽  
And Control ◽  
Nonlinear Dynamic Inversion

The paper presents the development of modelling and control strategies for a six-degree-of-freedom, unmanned combat aerial vehicle with the inclusion of the centre of gravity position travel during the straight-leg part of an in-flight refuelling manoeuvre. The centre of gravity position travel is found to have a parabolic variation with an increasing mass of aircraft. A nonlinear dynamic inversion-based neurocontroller is designed for the process under investigation. Three radial basis function neural networks are exploited in order to invert the dynamics of the system, one for each control channel. Modal and time-domain analysis results show that the dynamic properties of the aircraft are strongly influenced during aerial refuelling. The effectiveness of the proposed control law is demonstrated through the use of simulation results for an F-16 aircraft. The longitudinal neurocontroller provided interesting results, and performed better than a baseline nonlinear dynamic inversion controller without neural network. On the other hand, the lateral-directional nonlinear dynamic inversion-based neurocontroller did not perform well as the longitudinal controller. It was concluded that the nonlinear dynamic inversion-based neurocontroller could be applied to control an unmanned combat aerial vehicle during aerial refuelling.

scholarly journals VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion

2018 ◽  
Vol 2018 ◽  
pp. 1-19 ◽  
Author(s):  
Zhenchang Liu ◽  
Jie Guo ◽  
Mengting Li ◽  
Shengjing Tang ◽  
Xiao Wang
Keyword(s):  
Optimal Control ◽  
Nonlinear Dynamic ◽  
Dynamic Inversion ◽  
Control Allocation ◽  
Vtol Uav ◽  
Vertical Takeoff And Landing ◽  
Aerial Vehicle ◽  
Vertical Takeoff ◽  
Transition Flight ◽  
Nonlinear Dynamic Inversion

The paper seeks to study the control system design of a novel unmanned aerial vehicle (UAV). The UAV is capable of vertical takeoff and landing (VTOL), transition flight and cruising via the technique of direct force control. The incremental nonlinear dynamic inversion (INDI) approach is adopted for the 6-DOF nonlinear and nonaffine control of the UAV. Based on the INDI control law, a method of two-layer cascaded optimal control allocation is proposed to handle the redundant and coupled control variables. For the weight selection in optimal control allocation, a dynamic weight strategy is proposed. This strategy can adjust the weight of the objective function according to the flight states and mission requirements, thus determining the optimizing direction and ensuring the rationality of the allocation results. Simulation results indicate that the UAV can track the target trajectory accurately and exhibit continuous maneuverability in transition flight.

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