Time-Delay Margin and Robustness of Incremental Nonlinear Dynamic Inversion Control

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...

Long-Stroke Hydraulic Robot Motion Control With Incremental Nonlinear Dynamic Inversion

High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...

Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems

Hydraulic driven manipulators face serious control problems due to the nonlinear system dynamics and model and parametric uncertainties of hydraulic actuators. In this paper, a novel sensor-based Incremental Nonlinear Dynamic Inversion controller is applied to force tracking control of hydraulic actuators of a hexapod flight simulator motion...