Robust flight control using incremental nonlinear dynamic inversion and angular acceleration prediction

Robust flight control using incremental nonlinear dynamic inversion and angular acceleration prediction

Sieberling, S.
Chu, Q.P.
Mulder, J.A.

Aerospace Engineering

Control and Simulation Division

2010-12-31

This paper presents a flight control strategy based on nonlinear dynamic inversion. The approach presented, called incremental nonlinear dynamic inversion, uses properties of general mechanical systems and nonlinear dynamic inversion by feeding back angular accelerations. Theoretically, feedback of angular accelerations eliminates sensitivity to model mismatch, greatly increasing the robust performance of the system compared with conventional nonlinear dynamic inversion. However, angular accelerations are not readily available. Furthermore, it is shown that angular acceleration feedback is sensitive to sensor measurement time delays. Therefore, a linear predictive filter is proposed that predicts the angular accelerations, solving the time delay and angular acceleration availability problem. The predictive filter uses only references and measurements of angular rates. Hence, the proposed control method makes incremental nonlinear dynamic inversion practically available using conventional inertial measurement units.

dynamic inversion
nonlinear dynamic inversion
incremental nonlinear dynamic inversion
NDI
INDI
feedback linearization
robust flight control
angular acceleration prediction

http://resolver.tudelft.nl/uuid:cf9119d3-8bbf-489b-b734-f25c4cd1402a

https://doi.org/10.2514/1.49978

AIAA

1533-3884

Journal of guidance, control and dynamics, 33.2010 no.6

Institutional Repository

journal article

(c)2010 Delft University of Technology