Print Email Facebook Twitter Incremental Nonlinear Dynamic Inversion Flight Control Title Incremental Nonlinear Dynamic Inversion Flight Control: Stability and Robustness Analysis and Improvements Author van 't Veld, R.C. Contributor van Kampen, E. (mentor) Chu, Q.P. (mentor) Faculty Aerospace Engineering Department Control & Operations Programme Control & Simulation Date 2016-10-14 Abstract Incremental Nonlinear Dynamic Inversion (INDI) is a variation on Nonlinear Dynamic Inversion (NDI) retaining the high-performance advantages of NDI, while increasing controller robustness to model uncertainties and decreasing the dependency on the vehicle model. After a successful flight test with a multirotor Micro Aerial Vehicle (MAV), the question arises whether this technique can be used to successfully design a Flight Control System (FCS) 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; 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; and 4) recommendations regarding control modes, assessment criteria and PH-LAB Cessna Citation specific issues to be used by future contributors to a flight test with INDI on the PH-LAB aircraft. Subject Incremental Nonlinear Dynamic InversionAircraft Attitude ControlStabilityRobustness To reference this document use: http://resolver.tudelft.nl/uuid:f85a9c88-7bdb-42cd-a01c-aa85251d365c Embargo date 2018-10-14 Part of collection Student theses Document type master thesis Rights (c) 2016 van 't Veld, R.C. Files PDF 2016_09_29_Final_Thesis_v ... ntVeld.pdf 1.38 MB Close viewer /islandora/object/uuid:f85a9c88-7bdb-42cd-a01c-aa85251d365c/datastream/OBJ/view