Integration of Phase Plane Flight Envelope Protections in Cascaded Incremental Flight Control

Gabrys, Agnes; Steffensen, Rasmus; Cordeiro, Rafael de Angelis; Azinheira, José Raul; Moutinho, Alexandra; Holzapfel, Florian

doi:10.1016/j.ifacol.2019.11.281

Cited by 8 publications

(3 citation statements)

References 3 publications

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“…In that case, the feed forward from the reference model is only correct if the system is tracking the reference model. In addition, in case of disturbances which lead to a perturbation with differences between the desired and actual trajectory, the actual error dynamics will differ from the desired error dynamics, because they will be excited by the term 𝐹 𝑥 ( 𝑥 − 𝑥 𝑟 𝑒 𝑓 ) as can be seen in equation (10). However, in the proposed inversion based control law, where the state derivatives are used, the error dynamics will correspond to the desired error dynamics.…”

Section: General System With First Order Linear Actuator Dynamicsmentioning

confidence: 99%

“…Incremental Nonlinear Dynamic Inversion (INDI) is a control method that uses a local linearization of the model to derive a control law to control the defined output and its derivatives, by computation of an increment in the control input, neglecting any state-dependent terms [6]. Through the feedback of derivatives of the system output, such as angular acceleration in the case of inner loop control of an aircraft, unmodeled effects and disturbances are directly measured, and compensated for in the next control increment, which led to an increased popularity of the concept in flight control applications [7][8][9][10][11][12][13]. The controller responds under specific simplifications to the system to disturbances or unmodeled dynamics with the combined dynamics of the actuators and any filtering that is done on the output, and this has been observed in practical experiments as well [14].…”

Section: Introductionmentioning

confidence: 99%

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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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Section: General System With First Order Linear Actuator Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Steffensen¹,

Steinert²,

Smeur³

2022

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…quadrotor UAVs [10][11][12], hexacopter [14], a hybrid tail-sitter UAV [15,16], the automatic take-off and landing of a fixed wing tail-wheel aircraft [17], a helicopter [18], an airship [19], a piloted all attitude fixed wing turboprop demonstrator simulated aircraft [20], and a commercial civil aircraft simulation model [21,22].…”

Section: Introductionmentioning

confidence: 99%

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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Hybrid Incremental Nonlinear Dynamic Inversion-based Control of UAV in Urban Wind Environment

Jeong,

Suk,

Kim

2024

Int. J. Control Autom. Syst.

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Integration of Phase Plane Flight Envelope Protections in Cascaded Incremental Flight Control

Cited by 8 publications

References 3 publications

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

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

Filter and sensor delay synchronization in incremental flight control laws

Hybrid Incremental Nonlinear Dynamic Inversion-based Control of UAV in Urban Wind Environment

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