Simultaneous attitude control and trajectory tracking of a micro quadrotor: A SNAC aided nonlinear dynamic inversion approach

2013 ◽  
Author(s):  
Shivendra N. Tiwari ◽  
Radhakant Padhi
Keyword(s):  
Trajectory Tracking ◽  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Dynamic Inversion ◽  
Nonlinear Dynamic Inversion

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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