Incremental nonlinear dynamic inversion based path‐following control for a hybrid quad‐plane unmanned aerial vehicle

Zhou, Li; Yang, Jing; Strampe, Tilman; Klingauf, Uwe

doi:10.1002/rnc.6503

Cited by 3 publications

(3 citation statements)

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“…Zhou et al 6 established a mathematical model of a hybrid quad‐plane UAV characterized by complex structures, high nonlinearity, strong coupling, and various flight regimes involving hover, transition, and fixed‐wing flight. A cascade flight control architecture for quad‐plan UAVs is created using the incremental nonlinear dynamic inverse (NDI) method to improve the path following performance.…”

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confidence: 99%

“…This fractional-order control strategy has been applied to quadrotor UAVs in different scenarios affected by disturbances with increasing amplitudes and frequencies. Simulation results demonstrate the effectiveness of the proposal strategy even in comparison with an existing approach in the literature.Zhou et al 6 established a mathematical model of a hybrid quad-plane UAV characterized by complex structures, high nonlinearity, strong coupling, and various flight regimes involving hover, transition, and fixed-wing flight. A cascade flight…”

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confidence: 99%

“…Zhou et al 6 established a mathematical model of a hybrid quad-plane UAV characterized by complex structures, high nonlinearity, strong coupling, and various flight regimes involving hover, transition, and fixed-wing flight. A cascade flight…”

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confidence: 99%

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Editorial

Chen,

Alwi,

Edwards

2023

Intl J Robust & Nonlinear

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The focus of this special issue is to report on some recent developments in the advanced control and estimation fields focussing on aerial robotics, especially those that successfully consider theoretical open problems, as well as efficient implementations in practical applications.The different methodological approaches and topics of study within this special issue demonstrate their capabilities of rejecting disturbances in complex environments, estimating the vehicle's physical parameters or states in the uncertain environment, showing robustness against inherent nonlinearities and modeling uncertainties, and maintaining an acceptable level of robust stability in harsh conditions or even in the face of faults/failures. Fifteen papers are included in this special issue.Wang et al. 1 proposed an adaptive sliding mode fault tolerant control (FTC) strategy for a quadrotor unmanned aerial vehicle (UAV) in the face of actuator faults and model uncertainties. In this strategy, the sliding mode reaching law, which measures the distance between the sliding variable and the designated boundary layer, was constructed to suppress chattering, whilst preserving system tracking performance. Furthermore, an adaptation scheme is developed to prevent overestimation of adaptive parameters during the process of fault compensation. To validate the effectiveness and superiority of the proposed control strategy, a comparative study was conducted via simulation.Zhao et al. 2 considered the FTC problem for a class of quadrotors with variable mass and actuator faults. In this article, the variable mass and actuator fault are both estimated using adaptive fault observers. Using the knowledge of the estimated variable mass, a non-singular terminal sliding mode controller is created to ensure satisfactory trajectory tacking performance. Also, by utilizing the information of the actuator fault estimates, an integral sliding mode controller is designed to track the desired attitude. Simulation results show that the proposed FTC method guarantees good tracking performance in the presence of variable mass, faults and disturbances.Reis et al. 3 addressed the problem of slung load transportation for an underactuated quadrotor requiring the damping of oscillations and external disturbances. The position control strategy involves a sliding mode controller that computes a vectored thrust actuation to damp out the system's oscillations. To ensure good attitude tracking performance, conventional backstepping methods and a sliding mode controller built intrinsically in SO(3), are exploited to control the vehicle's angular velocity and to produce torque commands, respectively. Simulation and experimental results validate the robustness of the proposed technique in a trajectory tracking scenario.Yu et al. 4 investigated the fault-tolerant containment control (FTCC) problem for a group of fixed-wing UAVs and consider fault tolerance and collision avoidance simultaneously. In this article, a fractional-order (FO) FTCC scheme is proposed to steer all follo...

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Editorial

Chen,

Alwi,

Edwards

2023

Intl J Robust & Nonlinear

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Complementary Filter‐Based Incremental Nonlinear Model Following Control Design for a Tilt‐Wing UAV

Autenrieb,

Shin

2024

Intl J Robust & Nonlinear

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This article presents an incremental nonlinear model following control (INMFC) strategy for a tilt‐wing vertical take‐off and landing (VTOL) unmanned aerial vehicle (UAV). To ensure a good and robust regulation performance, a two‐loop feedback controller, based on the incremental backstepping (IBS) methodology, is used to handle uncertainties and external disturbances robustly. In order to ensure a good mode following and to aid the tracking performance of the flight control system, the first and second‐time derivatives of the desired model response, computed by a model reference (MR) system, are either directly used as feedforward signals for the outer loop or are additionally transformed for the inner‐loop by using an incremental nonlinear dynamic inversion (INDI) grounded approach to transform the signals based on known systems kinematics. In order to uniformly handle the overactuated flight vehicle in both mission model and during the transition, an operation mode‐based weighted incremental linear control allocation approach is applied for safe operation. The performance of the suggested control approach is investigated by utilizing a high‐fidelity nonlinear flight dynamics model of the tilt‐wing system. The results presented in this paper demonstrate that the proposed control approach provides significant benefits for the robust control of the considered tilt‐wing UAV.

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