Print Email Facebook Twitter Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles Title Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles Author Smeur, E.J.J. (TU Delft Control & Simulation) Chu, Q. P. (TU Delft Control & Simulation) de Croon, G.C.H.E. (TU Delft Control & Simulation) Date 2016 Abstract Incremental nonlinear dynamic inversion is a sensor-based control approach that promises to provide high-performance nonlinear control without requiring a detailed model of the controlled vehicle. In the context of attitude control of micro air vehicles, incremental nonlinear dynamic inversion only uses a control effectiveness model and uses estimates of the angular accelerations to replace the rest of the model. This paper provides solutions for two major challenges of incremental nonlinear dynamic inversion control: how to deal with measurement and actuator delays, and how to deal with a changing control effectiveness. The main contributions of this article are 1) a proposed method to correctly take into account the delays occurring when deriving angular accelerations from angular rate measurements; 2) the introduction of adaptive incremental nonlinear dynamic inversion, which can estimate the control effectiveness online, eliminating the need for manual parameter estimation or tuning; and 3) the incorporation of the momentum of the propellers in the controller. This controller is suitable for vehicles that experience a different control effectiveness across their flight envelope. Furthermore, this approach requires only very coarse knowledge of model parameters in advance. Real-world experiments show the high performance, disturbance rejection, and adaptiveness properties. To reference this document use: http://resolver.tudelft.nl/uuid:31536cfa-89e1-4d44-873e-f2f398bd69ca DOI https://doi.org/10.2514/1.G001490 Embargo date 2017-11-01 ISSN 0731-5090 Source Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, 39 (3), 450-461 Part of collection Institutional Repository Document type journal article Rights © 2016 E.J.J. Smeur, Q. P. Chu, G.C.H.E. de Croon Files PDF Adaptive_Incremental_Nonl ... iclesa.pdf 987.91 KB Close viewer /islandora/object/uuid:31536cfa-89e1-4d44-873e-f2f398bd69ca/datastream/OBJ/view