Nonlinear generalised dynamic inversion for aircraft manoeuvring control

Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non‐Singular Terminal Sliding Mode

“…The MPGI singularity avoidance is made by replacing the MPGI in (29) by the extended MPGI introduced in [21]. A scaling factor is taken to satisfy the following asymptotically stable first order forced dynamics [21]…”

“…Proposition 1. Consider the quadrotor outer loop dynamics given by (21), where = * is the RGDI control law given by (49) and ∈ R 2 is arbitrary. Then the outer positional dynamics is partially semi-globally practically stable with respect to the equilibrium point o = 2×1 of the positional dynamics given by (21).…”

“…Similar to its preceding NDI control methodology [18], GDI has been evolving within aerospace control applications [19][20][21]. However, GDI control avoids the main limitations and shortcomings of NDI in its implementations to control complex and highly-nonlinear aerospace systems, namely the difficulties in controlling under-actuated dynamics and nonholonomicity, the simplifying approximations that are usually needed to invert nonlinear plants, the square dimensionality restriction, singular configurations of square inversion, elimination of useful nonlinearities, and high controls magnitudes.…”

The flight control design for the SUAVs based on hierarchy-structured incremental dynamic inversion

“…For more than two decades, the time-scale separation DI control method has been widely applied in the flight control, such as flight control of super maneuvering [12,13], flight control of high angle of attack [14] and flight control of SUAVs' vertical take-off and landing [15]. To enhance SUAVs' trajectory tracking ability, the two time-scale is extended to the multi time-scale and Hierarchy-Structured Dynamic Inversion (HSDI) flight control method is presented in [5,6].…”

“…Each component in the body coordinate system is defined inFig. 2.The attitude control law can be derived from equations(12),(13). But to accomplish SUAVs' navigation control, the following values are needed: air velocity V , angle of attack α ,sideslip angle β , angle of velocity with North χ , flight path angle γ and inertial position x, y,z .Based on time-scale separation singular perturbation theory, state variables and control variables of SUAVs are divided into four groups according to time scales ( Tab.1).…”