Print Email Facebook Twitter Stability and Robustness Analysis and Improvements for Incremental Nonlinear Dynamic Inversion Control Title Stability and Robustness Analysis and Improvements for Incremental Nonlinear Dynamic Inversion Control Author van 't Veld, Ronald van Kampen, E. (TU Delft Control & Simulation) Chu, Q. P. (TU Delft Control & Simulation) Date 2018 Abstract Incremental nonlinear dynamic inversion (INDI) is a variation on nonlinear dynamic inversion (NDI), retaining the high-performance characteristics, while reducing model dependency and increasing robustness. After a successful flight test with a multirotor micro aerial vehicle, the question arises whether this technique can be used to successfully design a flight control system for aircraft in general. This requires additional research on aircraft characteristics that could cause issues related to the stability and performance of the INDI controller. Typical characteristics are additional time delays due to data buses and measurement systems, slower actuator and sensor dynamics, and a lower control frequency. The main contributions of this article are 1) an analytical stability analysis showing that implementing discrete-time INDI with a sampling time smaller than 0.02s results in large stability margins regarding system characteristics and controller gains; 2) a simulation study showing significant performance degradation requiring controller adaptation due to actuator measurement bias, angular rate measurement noise, angular rate measurement delay and actuator measurement delay; and 3) the use of a real-time time delay identification algorithm based on latency to successfully synchronize the angular rate and actuator measurement delay together with pseudo control hedging (PCH) to prevent oscillatory behavior. To reference this document use: http://resolver.tudelft.nl/uuid:53f5c0b0-9e3a-4bec-9471-9ce1aa1c3ba8 DOI https://doi.org/10.2514/6.2018-1127 Publisher American Institute of Aeronautics and Astronautics Inc. (AIAA) Embargo date 2019-01-31 ISBN 978-1-62410-526-5 Source Proceedings of the 2018 AIAA Guidance, Navigation, and Control Conference Event AIAA Guidance, Navigation, and Control Conference, 2018, 2018-01-08 → 2018-01-12, Kissimmee, United States Part of collection Institutional Repository Document type conference paper Rights © 2018 Ronald van 't Veld, E. van Kampen, Q. P. Chu Files PDF Stability_and_Robustness_ ... nli....pdf 548.88 KB Close viewer /islandora/object/uuid:53f5c0b0-9e3a-4bec-9471-9ce1aa1c3ba8/datastream/OBJ/view