Increased Robustness to Delay in Incremental Controllers Using Input Scaling Gain

Cordeiro, Rafael A.; Marton, Apolo Silva; Azinheira, José Raul; Carvalho, José Oscar Fontanini de; Moutinho, Alexandra

doi:10.1109/taes.2021.3123215

Cited by 13 publications

(13 citation statements)

References 22 publications

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“…It is assumed that the higher order terms can be neglected. The control law is obtained by solving (19) for 𝑢 𝑐 :…”

Section: Comparison With Incremental Nonlinear Dynamic Inversionmentioning

confidence: 99%

“…It can further be shown, that the input scaling as suggested by Cordeiro et al [18] and [19] for reducing the influence of noise and increasing the robustness with respect to time delays, can be interpreted as a modification of the innermost bandwidth of 𝑦: Ω 𝑦 = Λ𝜔, where the input scaling gain matrix Λ ∈ R 𝑚×𝑚 is diagonal. If this relation is inserted into (16), and it is assumed that the actuators have equal bandwidth, i.e.…”

Section: Comparison With Incremental Nonlinear Dynamic Inversionmentioning

confidence: 99%

“…Smeur et al [14] showed that when actuator dynamics are present, 𝑦 (𝑟 ) follows 𝜈 with the dynamics of the actuator, in the case that the 𝐹 𝑥 Δ𝑥 term and the higher order terms can be neglected in (19), and in the case that all actuators have the same bandwidth i.e. Ω = 𝜔𝐼 𝑘×𝑘 , such that:…”

Section: Comparison With Incremental Nonlinear Dynamic Inversion Incl...mentioning

confidence: 99%

“…Cordeiro et al [18] noted that an input gain scaling, which was used to reduce the influence of noise, can reduce the closed loop bandwidth. In [19], it was shown that the input scaling also increases robustness with respect to time delays. Pfeifle and Fichter [20] proposed an additional gain that depends on the sampling time and the actuator time constant based on an alternative derivation of the incremental dynamic inversion control law.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Non-Linear Dynamic Inversion with Actuator Dynamics: an Incremental Control Perspective

Steffensen¹,

Steinert²,

Smeur³

2022

Preprint

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In this paper, we derive a Nonlinear Dynamic Inversion (NDI) control law for a non-linear system with first order linear actuators, and compare it to Incremental Nonlinear Dynamic Inversion (INDI), which has gained popularity in recent years. It is shown that for first order actuator dynamics, INDI approximates the corresponding NDI control law arbitrarily well under the condition of sufficiently fast actuators. If the actuator bandwidth is low compared to changes in the states, the derived NDI control law has the following advantages compared to INDI: 1) compensation of state derivative terms 2) well defined error dynamics and 3) exact tracking of a reference model, independent of error controller gains in nominal conditions. The comparison of the INDI control law with the well established control design method NDI adds to the understanding of incremental control. It is additionally shown how to quantify the deficiency of the INDI control law with respect to the exact NDI law for actuators with finite bandwidth. The results are confirmed through simulation results of the rolling motion of a fixed wing aircraft.

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“…It is assumed that the higher order terms can be neglected. The control law is obtained by solving (19) for 𝑢 𝑐 :…”

Section: Comparison With Incremental Nonlinear Dynamic Inversionmentioning

confidence: 99%

Section: Comparison With Incremental Nonlinear Dynamic Inversionmentioning

confidence: 99%

Section: Comparison With Incremental Nonlinear Dynamic Inversion Incl...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Non-Linear Dynamic Inversion with Actuator Dynamics: an Incremental Control Perspective

Steffensen¹,

Steinert²,

Smeur³

2022

Preprint

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show abstract

“…To guarantee the precision of the aerial imagery coverage, the mission definition of the flying wing UAV after remote cut-off from the HAB, and respective trajectory control, is essential. The implementation of nonlinear control solutions robust to wind disturbances and model uncertainties take gain from its gliding flight capabilities, guaranteeing the mission execution while maximizing flight time (Cordeiro et al (2021)). An example of a UAV mission after deployment from HAB and stabilization, and simulated execution, is presented in Figure 3, where several points of interest are surveyed (vertical range was greatly reduced to limit the resulting loitering turns on descent).…”

Section: High-altitude Balloon In Fire-fighting Operationsmentioning

confidence: 99%

Eye in the Sky - Using High-Altitude Balloons for Decision Support in Wildfire Operations

Moutinho¹,

Sousa²,

Dias³

et al. 2022

Advances in Forest Fire Research 2022

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The large fires that have occurred in recent years around the World have shown that the management of these events becomes much more difficult when the extension of the burnt area or the location of the fire fronts, among other fundamental information for those managing operations in theatre, is not known. In addition, the large involvement of firefighting resources often challenges the operability of the communications system, sometimes making it dysfunctional or with limited operability. This was a reality seen in several large fires, from which we highlight the Fire of PedrÃ³gÃ£o Grande that occurred in Portugal in June 2017. Aware of the need to improve operational technology for fire monitoring, the Eye in the Sky Project has been developed. Our approach within this project is to design and develop an easy to deploy kit that can be launched from anywhere and fulfil these needs, providing quality real-time aerial imagery of the wildfires and guaranteeing emergency communications. The proposed solution consists of a high-altitude balloon that will carry a flying wing unmanned aerial vehicle with two different high-value types of payloads that meet these two specific functions of imagery collection in the visible and infrared ranges and communications repeater. The authors like to refer to the Eye in the Sky solution as a satellite dedicated to a specific fire. Naturally, the development of such solution raises several challenges, particularly in terms of the operational functioning of this solution, the optimised use of the balloon/glider pair with the associated payload, the capture, automatic detection of the fire images and their georeferencing, and the communications system between the payload, the ground station and the users in the command centre. The several challenges that have arisen in the development of this solution, as well as the current developments, are hereby exposed.

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Filter and sensor delay synchronization in incremental flight control laws

Steffensen

Steinert

Mbikayi

et al. 2023

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This paper introduces and investigates several methods of filtering and delay synchronization in incremental control law structures. It is shown that proper filter and delay synchronization is of great importance for both the performance and stability of the control laws. It is derived how to synthesize complementary filters in case of sensor dynamics, sensor delays and internal control law filtering such as roll-off filters and notch filters. The complementary filters are compared to common synchronization approaches previously applied in incremental control laws. It is shown that the proposed methods are beneficial for Multiple Input Multiple Output (MIMO) systems in case that different delays and filtering is present in the different measurement signals. In case of strongly coupled input effectiveness, the synchronization on the actuator feedback may become even unstable, where the complementary filter approach recovers the design closed-loop behavior. In addition, it is derived how to initialize the complementary filters for a transient-free engagement in non-steady-state conditions. The results are compared in simulation with a roll rate control law for a fixed wing aircraft.

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Increased Robustness to Delay in Incremental Controllers Using Input Scaling Gain

Cited by 13 publications

References 22 publications

Non-Linear Dynamic Inversion with Actuator Dynamics: an Incremental Control Perspective

Non-Linear Dynamic Inversion with Actuator Dynamics: an Incremental Control Perspective

Eye in the Sky - Using High-Altitude Balloons for Decision Support in Wildfire Operations

Filter and sensor delay synchronization in incremental flight control laws

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