Print Email Facebook Twitter Time-Delay Margin and Robustness of Incremental Nonlinear Dynamic Inversion Control Title Time-Delay Margin and Robustness of Incremental Nonlinear Dynamic Inversion Control Author Huang, Y. (Northwestern Polytechnical University) Zhang, Ye (Northwestern Polytechnical University) Pool, D.M. (TU Delft Control & Simulation) Stroosma, O. (TU Delft Control & Simulation) Chu, Q. P. (TU Delft Control & Simulation) Date 2022 Abstract Nonlinear dynamic inversion (NDI) is a nonlinear feedback linearization technique that has been widely applied to flight control systems [1,2]. Using state feedback and the inverted nonlinear system dynamics, NDI can significantly reduce controller development costs by avoiding gain scheduling and Jacobian linearization at a multitude of operating points. However, the control performance of NDI is directly dependent on required detailed knowledge of the model. As a simplified and enhanced NDI method [3], incremental nonlinear dynamic inversion (INDI) [4,5] has been proposed to reduce the model dependency and improve the robustness against model uncertainties. Instead of using a global nonlinear model, in INDI the dynamic inversion is implemented on a locally linearized system model that is updated at every sampling period, for which the control input is calculated in an incremental manner. Unlike NDI, for which full knowledge of the complete system dynamics is needed, INDI only requires explicit knowledge of the system’s control effectiveness matrix. To reference this document use: http://resolver.tudelft.nl/uuid:6ea56b4f-6e50-4296-899c-d79bdca6f4fc DOI https://doi.org/10.2514/1.G006024 ISSN 0731-5090 Source Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, 45 (2), 394-404 Part of collection Institutional Repository Document type journal article Rights © 2022 Y. Huang, Ye Zhang, D.M. Pool, O. Stroosma, Q. P. Chu Files PDF 2021_Huang_JGCD_note_AUTHORCOPY.pdf 1.72 MB Close viewer /islandora/object/uuid:6ea56b4f-6e50-4296-899c-d79bdca6f4fc/datastream/OBJ/view