Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles

2016 ◽  
Author(s):  
Ewoud J. Smeur ◽  
Q Ping Chu ◽  
Guido C. de Croon
Keyword(s):  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Dynamic Inversion ◽  
Micro Aerial Vehicles ◽  
Aerial Vehicles ◽  
Nonlinear Dynamic Inversion

Robust proportional incremental nonlinear dynamic inversion control of a flying-wing tailsitter

2020 ◽  
Vol 234 (16) ◽  
pp. 2274-2295
Author(s):  
Yunjie Yang ◽  
Xiangyang Wang ◽  
Jihong Zhu ◽  
Xiaming Yuan ◽  
Xiaojun Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Estimation Method ◽  
Angular Acceleration ◽  
Prediction Method ◽  
Differential Method ◽  
Dynamic Inversion ◽  
Aerial Vehicles ◽  
Nonlinear Dynamic Inversion

Tailsitter unmanned aerial vehicles are utilized extensively nowadays since they merge advantages of both fixed-wing unmanned aerial vehicles and rotary-wing unmanned aerial vehicles. However, their attitude control suffers from unknown nonlinearities and disturbances due to the wide flight envelope. To solve the problems, a robust attitude controller based on a newly designed flying-wing tailsitter is proposed in this paper. By employing the angular acceleration feedback to compensate unmodeled dynamics, the proportional incremental nonlinear dynamic inversion control law is first developed. The proportional incremental nonlinear dynamic inversion strengthens the conventional nominal gain incremental nonlinear dynamic inversion with a proportional term to reflect the change of the angular acceleration more directly. Therefore, the tailsitter has a quicker response and performs better in suppressing model uncertainties and external disturbances. Since the angular acceleration is difficult to measure in practice, an angular acceleration estimation method is then established to provide accurate signals for the proportional incremental nonlinear dynamic inversion. The signals are derived as complementary results of model prediction method and direct differential method. Theoretical analysis and systematic simulations are conducted to corroborate the effectiveness of the developed estimation method as well as the robustness of the proposed controller.

scholarly journals Reconfigurable Nonlinear Dynamic Inversion for Attitude Control of a Structurally Damaged Aircraft

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 199931-199943
Author(s):  
Qizhi He ◽  
Yi Tan ◽  
Xiaoxiong Liu ◽  
Qianlei Jia ◽  
Jinglong Liu
Keyword(s):  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Dynamic Inversion ◽  
Nonlinear Dynamic Inversion

scholarly journals Actuator modelling for attitude control using incremental nonlinear dynamic inversion

2020 ◽  
Vol 12 ◽  
pp. 175682932096192
Author(s):  
F Binz ◽  
D Moormann
Keyword(s):  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Closed Loop ◽  
Control Method ◽  
Flight Test ◽  
Small Scale ◽  
Dynamic Inversion ◽  
Electric Aircraft ◽  
The Face ◽  
Nonlinear Dynamic Inversion

Recently, the concept of incremental nonlinear dynamic inversion has seen an increasing adoption as an attitude control method for a variety of aircraft configurations. The reasons for this are good stability and robustness properties, moderate computation requirements and low requirements on modelling fidelity. While previous work investigated the robust stability properties of incremental nonlinear dynamic inversion, the actual closed-loop performance may degrade severely in the face of model uncertainty. We address this issue by first analysing the effects of modelling errors on the closed-loop performance by observing the movement of the system poles. Based on this, we analyse the neccessary modelling fidelity and propose simple modelling methods for the usual actuators found on small-scale electric aircraft. Finally, we analyse the actuator models using (flight) test data where possible.

scholarly journals Attitude control of tiltwing aircraft using a wing-fixed coordinate system and incremental nonlinear dynamic inversion

2019 ◽  
Vol 11 ◽  
pp. 175682931986137 ◽  
Author(s):  
F Binz ◽  
T Islam ◽  
D Moormann
Keyword(s):  
Coordinate System ◽  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Angular Rate ◽  
Angular Acceleration ◽  
Operating Conditions ◽  
Dynamic Inversion ◽  
Control Concept ◽  
Novel Concept ◽  
Nonlinear Dynamic Inversion

In this paper, we present a novel concept for robustly controlling the attitude of tiltwing aircraft. Our main contribution is the introduction of a wing-fixed coordinate system for angular acceleration control, which forms the basis of a simple and robust attitude controller. Using the wing-fixed coordinate system allows us to describe the actuator effectivity using simple approximations based on the current operating conditions of the aircraft. Coupled with a robust angular rate control concept, which does not rely on an accurate aerodynamic model, we present a controller stabilizing the entire flight envelope of a tiltwing aircraft. The underlying angular acceleration controller uses the concept of Incremental Nonlinear Dynamic Inversion (INDI) to achieve robustness against aerodynamic uncertainties. The resulting controller is evaluated in both simulation studies and flight tests.

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