Searched for: subject:"Incremental%5C+Nonlinear%5C+Dynamic%5C+Inversion"
(1 - 11 of 11)
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Smit, Beau (author)
Control augmentation systems based on Incremental Nonlinear Dynamic Inversion (INDI) are able to provide high-performance nonlinear control without the need for a model of the complete system. Considering a pitch rate control law for a fixed-wing aircraft, only a model for the elevator control effectiveness (CE) and sensor feedback of the pitch...
master thesis 2021
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Kumtepe, Yagiz (author)
Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control strategy, which has shown robustness against model uncertainties on various aerospace vehicles. The sensor-based nature of the method brings attractive properties which has made it popular in the last decade. INDI globally linearizes the system by making use of control...
master thesis 2020
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Das, Hemjyoti (author)
Pneumatic cylinders provide an environment-friendly actuation means by minimizing the leakage of any harmful industrial fluids, as occurs for hydraulic actuators. Thus, pneumatic actuators require less maintenance, compared to hydraulic actuators. Moreover, for a similar weight of hydraulic actuator, the cost of a pneumatic actuation system is...
master thesis 2020
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El-Hajj, Isabelle (author)
Incremental control techniques such as Incremental Nonlinear Dynamic Inversion (INDI) and Incremental Backstepping (IBS) have gained recent popularity, especially in the aerospace community, due to their versatility and effectiveness which entails robustness to imprecise knowledge about the controlled system as well as robustness to external...
master thesis 2020
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van Litsenburg, Luuk (author)
Incremental Nonlinear Dynamic Inversion has shown increases in performance and robustness to model mismatches and uncertainties in hydraulic control as compared to other model-based controllers. This work will expand on hydraulic Incremental Nonlinear Dynamic Inversion force control and discuss three of its challenges and accompanying solutions....
master thesis 2020
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van Namen, Rick (author)
The trajectory tracking efficiency of a quadrotor Micro Aerial Vehicle (MAV) position controller is decreased by discrete jumps in the pose estimate provided by a localization algorithm. This paper presents a solution to this problem by first introducing a new quadrotor MAV position control architecture followed by two methods that can...
master thesis 2019
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Ruijs, Mart (author)
In this paper incremental nonlinear dynamic inversion, a sensor based approximate form of feedback linearization with favorable robustness properties, is applied to the traction control and stability augmentation problem of a Le Mans Prototype 1 race car. A cascaded side-slip and yaw-rate envelope protection system is developed in combination...
master thesis 2018
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Sharma, Suresh (author)
This work presents a vector field based path following method to be used by Multirotor Unmanned Aerial Vehicles (UAVs). The desired path to be followed is a smooth planar path defined in its implicit form. The vector field around the desired path is then constructed using the implicit function, such that the integral curves of the vector field...
master thesis 2018
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van 't Veld, R.C. (author)
Incremental Nonlinear Dynamic Inversion (INDI) is a variation on Nonlinear Dynamic Inversion (NDI) retaining the high-performance advantages of NDI, while increasing controller robustness to model uncertainties and decreasing the dependency on the vehicle model. After a successful flight test with a multirotor Micro Aerial Vehicle (MAV), the...
master thesis 2016
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Acquatella, B.P.J. (author)
In order to meet requirements in terms of robustness, stability, and performance for future generations of advanced attitude control systems, a sensor-based approach using Incremental Backstepping control is developed and proposed in this thesis. Assuming full state availability and fast control action, the resulting time-scale separation...
master thesis 2011
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Simplicio, P. (author)
Due to the inherent instabilities and nonlinearities of rotorcraft dynamics, its changing properties during flight and the difficulties to predict its aerodynamics with high levels of fidelity, helicopter flight control requires strategies that allow to cope with the nonlinearities of the model and assure robustness in the presence of...
master thesis 2011
Searched for: subject:"Incremental%5C+Nonlinear%5C+Dynamic%5C+Inversion"
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