Robust Flight Control Using Incremental Nonlinear Dynamic Inversion and Angular Acceleration Prediction

摘要

This paper presents a flight control strategy based on nonlinear dynamic inversion. The approach presented,ncalled incremental nonlinear dynamic inversion, uses properties of general mechanical systems and nonlinearndynamic inversion by feeding back angular accelerations. Theoretically, feedback of angular accelerationsneliminates sensitivity to model mismatch, greatly increasing the robust performance of the system compared withnconventional nonlinear dynamic inversion. However, angular accelerations are not readily available.nFurthermore, it is shown that angular acceleration feedback is sensitive to sensor measurement time delays.nTherefore, a linear predictive filter is proposed that predicts the angular accelerations, solving the time delay andnangular acceleration availability problem. The predictive filter uses only references and measurements of angularnrates. Hence, the proposed control method makes incremental nonlinear dynamic inversion practically availablenusing conventional inertial measurement units.