Incremental Nonlinear Dynamic Inversion controller - structural vibration coupling

Incremental Nonlinear Dynamic Inversion controller - structural vibration coupling: Study of the phenomenon and the existing solutions

Collicelli, Alessandro (TU Delft Aerospace Engineering)

Smeur, E.J.J. (mentor)
Pollack, T.S.C. (mentor)

Delft University of Technology

Aerospace Engineering

2022-09-29

Incremental Nonlinear Dynamics Inversion (INDI) flight controllers are sensor-based control systems, that are robust towards model uncertainty and with good disturbance rejection characteristics. These controllers show coupling effects in structural modes when implemented in specific flying vehicles with low-frequency structural motions. This paper investigates different INDI implementations, standard INDI, hybrid INDI, and notch filter placement in the INDI loop via simulation and flight tests on the Nederdrone. System identification of the structural characteristics of the vehicle and the system’s yaw dynamics are executed via ground vibration and hover flight tests. Closed-loop behaviour of theINDI inner-loop, disturbance rejection performance, and outer loop step-tracking performance was assessed with dedicated flight tests. The investigated INDI solutions show similar disturbance rejection and outer-loop step tracking performance, while the hybrid INDI solution performs a better nonlinear dynamic inversion.
Index Terms—INDI, complementary filter, unmanned vehicle, flight control system structural motion coupling

http://resolver.tudelft.nl/uuid:66c34a84-5b47-49dd-b560-2836d9696e3c

Student theses

master thesis

© 2022 Alessandro Collicelli