A Sampled-Data Form of Incremental Nonlinear Dynamic Inversion for Spacecraft Attitude Control

This paper presents a sampled-data form of the recently reformulated incremental nonlinear dynamic inversion (INDI) applied for robust spacecraft attitude control. INDI is a combined model- and sensor-based approach mostly applied for attitude control that only requires an accurate control effectiveness model and measurements of the state and...

Flight testing of incremental backstepping based control laws with angular accelerometer feedback

This paper discusses the design, implementation and flight testing of an incremental Backstepping (IBS) based manual flight control law with angular accelerometer (AA) feedback. The main advantages of incremental control laws are that they only require a partial model of the system and are of low complexity. Incremental control laws for...

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...

Machine Learning for Flapping Wing Flight Control

Flight control of Flapping Wing Micro Air Vehicles is challenging, because of their complex dynamics and variability due to manufacturing inconsistencies. Machine Learning algorithms can be used to tackle these challenges. A Policy Gradient algorithm is used to tune the gains of a Proportional-Integral controller using Reinforcement Learning. A...

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...

Stability and Robustness Analysis and Improvements for Incremental Nonlinear Dynamic Inversion Control

Incremental nonlinear dynamic inversion (INDI) is a variation on nonlinear dynamic inversion (NDI), retaining the high-performance characteristics, while reducing model dependency and increasing robustness. After a successful flight test with a multirotor micro aerial vehicle, the question arises whether this technique can be used to...

Robust Incremental Nonlinear Dynamic Inversion Control Using Angular Accelerometer Feedback

Incremental Nonlinear Dynamic Inversion (INDI) is a robust nonlinear control tech­nique that is an adaptation of nonlinear dynamic inversion (NDI). By assuming time scale separation between fast and slow dynamics, and by using angular acceleration feedback, the inner loop of INDI directly controls angular accelerations with incremental control...

Design and flight testing of incremental nonlinear dynamic inversion based control laws for a passenger aircraft

This paper describes the design, implementation and flight testing of flight control laws based on Incremental Nonlinear Dynamic Inversion (INDI). The method compares com- manded and measured accelerations to compute increments on the current control de ec- tions. This results in highly robust control solutions with respect to model...

Adaptive spacecraft attitude control with incremental approximate dynamic programming

This paper presents an adaptive control technique to deal with spacecraft attitude tracking and disturbance rejection problems in the presence of model uncertainties. Approximate dynamic programming has been proposed to solve adaptive, optimal control problems without using accurate systems models. Within this category, linear approximate...

Gust Load Alleviation and Ride Quality Improvement with Incremental Nonlinear Dynamic Inversion

An Anti-windup Fault Tolerant Control Scheme with Guaranteed Transient Performance for Tailless Flying Wing Aircraft

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Efficient Nonlinear Actuator Fault Reconstruction System

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A novel approach with safety metrics for real-time exploration of uncertain environments

Graph based dynamic policy for UAV navigation

Nonlinear adaptive flight control using incremental approximate dynamic programming and output feedback

Efficient methods for flight envelope estimation through reachability analysis

Autonomous Navigation in Partially Observable Environments Using Hierarchical Q-Learning

Flapping-wing MAVs represent an attractive alternative to conventional designs with rotary wings, since they promise a much higher efficiency in forward flight. However, further insight into the flapping-wing aerodynamics is still needed to get closer to the flight performance observed in natural fliers. Here we present the first step necessary...