Dynamic Inversion Approach Study of UAV Lateral Control under Model Mismatch

摘要

In this paper, the preliminary effort of pre-flight test lateral control method study is presented. Parameters and coefficients of candidate UAV (Unmanned Aviation Vehicle) are calculated for modelling and linearization. For controller design, dynamic inversion is proposed to cancel dynamic coupling between attitudes. Stability and controllability of decentralized linear controller which applied on non-ideal inversion is studied. After that, dynamic based approach is compared with conventional architecture by performing a coordinate turn.