Time-Delay Margin and Robustness of Incremental Nonlinear Dynamic Inversion Control

Huang, Yongmei; Zhang, Ye; Pool, Daan M.; Stroosma, Olaf; Chu, Q.P.

doi:10.2514/1.g006024

Cited by 12 publications

(8 citation statements)

References 23 publications

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“…In conclusion, other stability criterion is needed to correctly define GM and PM for

G(s)

including an integrator in case of

{k}_1&amp;amp;amp;amp;#x0003D;0

, and PM itself may not clearly represent the system's robustness with respect to time‐delay. In fact, the time‐delay margin may be more useful than PM for some practical applications, for example, [10].…”

Section: Examples and Discussionmentioning

confidence: 99%

Remark on stability margin of Lur'e systems

Kim

2023

Asian Journal of Control

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In a recent work, a definition of stability margin (gain and phase margins) for a class of nonlinear systems (Lur'e systems consisting of a linear time‐invariant (LTI) plant and a sector‐constrained nonlinearity) is proposed based on the famous circle criterion. This definition is indeed interesting because the concept of gain and phase margins has been largely limited to linear systems with a single input and a single output (SISO), but it was further established for Lur'e systems with a particular type of sector constraints ( , e.g., saturation). In this paper, the previously established concept is extended to cover Lur'e systems with a general type of sector constraints ( ). It is, however, pointed out that in case of , the definitions of phase margin based on the circle criterion can be misleading and need to be modified or replaced perhaps by a time‐delay margin for Lur'e systems including an integrator, for which the phase margin can be trivially zero.

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“…In conclusion, other stability criterion is needed to correctly define GM and PM for

G(s)

including an integrator in case of

{k}_1&amp;amp;amp;amp;#x0003D;0

Section: Examples and Discussionmentioning

confidence: 99%

Remark on stability margin of Lur'e systems

Kim

2023

Asian Journal of Control

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“…Secondly, to proof the tracking error convergence and system are BIBO. Defining the tracking error of system as e t (k) = x d (k) − x(k), and substitute into linearization data (13), control law (23) and (24), we can obtain:…”

Section: Discussionmentioning

confidence: 99%

“…In recent decades, the T-S fuzzy modeling technique has become a significant approach for processing nonlinear control issues and also an important means of handling system time-delay [22,23]. Many research results have demonstrated with the time-delay issue in nonlinear dynamic systems [24][25][26]. In [27], considering time-varying delay and input constraint, a novel control approach was proposed based on the T-S fuzzy model expressed system, and researchers performed simulation on a flexible-joint robot to verify its utility.…”

Section: Introductionmentioning

confidence: 99%

Date-Driven Tracking Control via Fuzzy-State Observer for AUV under Uncertain Disturbance and Time-Delay

Dai

Shan

et al. 2023

JMSE

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This paper focuses on developing a data-driven trajectory tracking control approach for autonomous underwater vehicles (AUV) under uncertain external disturbance and time-delay. A novel model-free adaptive predictive control (MFAPC) approach based on a fuzzy state observer (FSO) was designed to achieve high precision. Concretely, the mathematical model of AUV motion was analyzed, and simplified via model decoupling, thus providing the model basis with an explicit physical explanation for the controller. Second, the MFAPC scheme for a multiple-inputs and multiple-outputs (MIMO) discrete time system was derived, that estimates system external disturbance. The controller can online estimate and predictive time-varying parameter pseudo-Jacobian matrix (PJM) to establish equivalent state space data-model for AUV motion system. Third, the Takagi–Sugeno (T–S) fuzzy model based state observer was designed to combine with the MFAPC scheme for the first time, which was used to online decline the state error generated by system uncertain time-delay. In addition, the stability of the proposed control scheme was analyzed. Finally, two trajectory tracking scenarios were designed to verify the effectiveness and robustness of the proposed FMFAPC scheme, and the simulations are implemented using the realistic parameters of T-SEA AUV.

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“…Reference [42] established the proportionality between the time-delay margin and the actuator's time constant for the INDI controller, as demonstrated by rigorous mathematical proofs. Consequently, the actuator's natural frequency has a significant impact on the stability and robustness of the INDI-based control algorithm.…”

Section: Sensitivity Analysismentioning

confidence: 99%

Extended-State-Observer-Based Angular Acceleration Estimation for Supersonic Aircraft Lateral–Directional Control

et al. 2023

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Large-slenderness-ratio (LSR) aircraft exhibit more severe lateral–directional coupling compared with other aircraft, which poses a significant challenge to their flight safety, especially during high-speed maneuvers. Reliable attitude decoupling control is, therefore, essential for LSR aircraft. In this study, a novel control framework that combines incremental nonlinear dynamic inversion (INDI) and extended state observer (ESO) is proposed for supersonic roll maneuver control of LSR aircraft. The ESO is used to estimate the angular acceleration on the basis of an onboard mathematical model. The acceleration estimator based on ESO achieves superior noise reduction compared with the complementary filter (CF) and reduces the onboard model requirement without significantly sacrificing estimation accuracy. Monte Carlo (MC) simulations and frequency–domain analysis demonstrate the effectiveness and robustness of the proposed controller. The sensitivity of parameter uncertainties is also investigated, revealing that the natural frequency of the actuator is the most critical parameter affecting robustness. Finally, flight tests validate the effectiveness of the proposed control structure.

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Time-Delay Margin and Robustness of Incremental Nonlinear Dynamic Inversion Control

Cited by 12 publications

References 23 publications

Remark on stability margin of Lur'e systems

Remark on stability margin of Lur'e systems

Date-Driven Tracking Control via Fuzzy-State Observer for AUV under Uncertain Disturbance and Time-Delay

Extended-State-Observer-Based Angular Acceleration Estimation for Supersonic Aircraft Lateral–Directional Control

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