Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model...

Flexible Aircraft Gust Load Alleviation with Incremental Nonlinear Dynamic Inversion

This paper designs an incremental nonlinear dynamic inversion control law for free-flying flexible aircraft, which can regulate rigid-body motions, alleviate gust loads, reduce the wing root bending moment, and suppress elastic modes. By fully exploring the sensor measurements, the model dependency of the proposed control law can be reduced...

Comparison of three control structures for inducing higher-order sliding modes

For mitigating the chattering effect in the sliding mode control (SMC), many adaption mechanisms have been proposed to reduce the switching gains. However, less attention is paid to the control structure, which influences the resulting uncertainty term and determines the minimum possible gains. This paper compares three control structures for...

Incremental Sliding-Mode Fault-Tolerant Flight Control

This paper proposes a novel control framework that combines the recently reformulated incremental nonlinear dynamic inversion with (higher-order) sliding-mode controllers/observers, for generic multi-input/multi-output nonlinear systems, named incremental sliding-mode control. As compared to the widely used approach that designs (higher-order...

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear...

Stability Analysis for Incremental Nonlinear Dynamic Inversion Control

As a sensor-based control method, incremental nonlinear dynamic inversion (INDI) has been applied to various aerospace systems and has shown desirable robust performance against aerodynamic model uncertainties. However, its previous derivation based on the time scale separation principle has some limitations. There is also a need for stability...

Quadrotor fault-tolerant incremental nonsingular terminal sliding mode control

This paper proposes incremental nonsingular terminal sliding mode control for a class of multi-input and multi-output nonlinear systems considering model uncertainties, external disturbances, and sudden actuator faults. This method is free from singularity because it does not involve any negative fractional power. The convergence time in both...

Active gust load alleviation of high-aspect ratio flexible wing aircraft

This paper presents a novel active gust load alleviation approach within a multi-objective flight control framework developed by NASA for a flexible wing aircraft. The aircraft model is based on the NASA Generic Transport Model (GTM). The wing structures incorporate an aerodynamic control surface known as the Variable Camber Continuous...

Flexible Aircraft Gust Load Alleviation with Incremental Nonlinear Dynamic Inversion

In this paper, an Incremental Nonlinear Dynamic Inversion (INDI) controller is<br/>developed for the flexible aircraft gust load alleviation (GLA) problem. First, a flexible aircraft model captures both inertia and aerodynamic coupling effects between flight dynamics and structural vibration dynamics is presented. Then an INDI GLA controller is...

Stability Analysis for Incremental Nonlinear Dynamic Inversion Control

As a sensor-based control approach, the Incremental Nonlinear Dynamic Inversion (INDI) method has been successfully applied on various aerospace systems and shown desirable robust performance to aerodynamic model uncertainties. However, its previous derivations based on the so-called time scale separation principle is not mathematically rigorous...