Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-wing Micro Air Vehicles

Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-wing Micro Air Vehicles

van der Sman, E.S.
Smeur, E.J.J. (TU Delft Control & Simulation)
Remes, B.D.W. (TU Delft Control & Simulation)
de Wagter, C. (TU Delft Control & Simulation)
Chu, Q. P. (TU Delft Control & Simulation)

J.-M. Moschetta G. Hattenberger, H. de Plinval (editor)

2017-09-18

Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles (MAV). Two methods are proposed
to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion (INDI) control and phaseadvanced pitch probes. INDI uses the angular acceleration measurements to counteract disturbances. Multihole pressure probes measure the incoming flow angle and velocity ahead of the wing in order to react to gusts before an inertial response has occurred. The performance of INDI is compared to a traditional proportional integral derivative (PID) controller with and without the multihole pressure probes. The attitude controllers are tested by performing autonomous wind tunnel flights and stability augmented outdoor flights. This paper shows that INDI improves the disturbance rejection performance of fixed-wing MAVs compared to traditional proportional integral derivative controllers.

http://resolver.tudelft.nl/uuid:0c71106f-cd75-448b-b488-1e417d916647

International Micro Air Vehicle Conference and Flight Competition 2017

9th international micro air vehicles, 2017-09-18 → 2017-09-21, Toulouse, France

Institutional Repository

conference paper

© 2017 E.S. van der Sman, E.J.J. Smeur, B.D.W. Remes, C. de Wagter, Q. P. Chu