A dynamic inversion based control law with application to the high angle-of-attack research vehicle

Abstract

This paper proposes a general structure for aircraft control at whose core are several blocks of dynamic inversion of the controlled system. This control law is then applied to a nonlinear model of NASA's High Angle-of-attack Research Vehicle (HARV) which is currently being studied jointly by NASA-Ames, NASA-AmesDryden, and NASA-Langley. The control law itself uses the complete nonlinear aero data base, and has no restrictions on the manner in which the control inputs enter the dynamic equations. An algorithm which handles surface limiting while ensuring a solution to the moment equation inverse is incorporated into the control law. The excellent tracking performance of the control law is demonstrated via the simulation of a couple selected supermaneuvers.

Force and moment approach for achievable dynamics using nonlinear dynamic inversion

“…The general form of the control law, shown in figure 1, is not too different from previously applied NDI control approaches 9,10 . Due to the information available from the simulation, however, the implementation here will be greatly simplified over reference 9.…”

Reconfigurable NDI controller using inertial sensor failure detection & isolation

“…An implicit model following approach is used since the desired dynamics of the closed-loop system result when the feedback loops are closed. Unlike implicit DI-based model following described in the literature [6,14,15], the on-line control used here is much less dependent on the control's onboard model. Details concerning the control law development are found in [5] and are only summarized here.…”

Guidance, navigation, and control of an unmanned hovercraft

“…This broad class of techniques known as feedback linearization found comprehensive treatments by Isidori [48], Meyer and Cicolani [49], and Menon et al [50]. Dynamic inversion, known as a specific case of feedback linearization, has been investigated in an application to super-maneuverable aircraft [51][52][53], where it was shown to be an effective way of compensating for the nonlinearities. However, the nonlinear control techniques, such as dynamic inversion, require the accurate knowledge of the plant dynamics and were shown to be vulnerable to modeling errors by Brinker and Wise [54].…”