An acceleration measurements-based approach for helicopter nonlinear flight control using Incremental Nonlinear Dynamic Inversion

Simplicio, Pedro V M; Pavel, Marilena D.; Kampen, E. van; Chu, Q.P.

doi:10.1016/j.conengprac.2013.03.009

Cited by 163 publications

(122 citation statements)

References 12 publications

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“…(11). This feature was analytically proven in (Simplício et al, 2013;Sieberling et al, 2010), showing that the existence of model mismatch ∆G would not influence the linear relation Eq. (12), with a high sampling rate.…”

Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 93%

“…For a very small time increment, the second term of Eq. (9) is much smaller than the last term according to the principle of time scale separation (Simplício et al, 2013). The increment of states (x − x 0 ) is equal to the integration ofẋ, which tends to zero with infinitesimal time step, while the control input increment can still be relatively large since it is given value.…”

Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 99%

“…The novel Incremental Nonlinear Dynamic Inversion (INDI) is a less model dependent and more robust technique that has recently been adopted for various control applications (Smeur et al, 2015;Simplício et al, 2013;Sieberling et al, 2010). By calculating the increment of the control input based on the feedback of a state derivative measurement, instead of computing the total command with the modeled state derivatives with an NDI technique, the INDI controller uses less model information and is insensitive to model and parameter uncertainties.…”

Section: Proceedings Of the 20th World Congressmentioning

confidence: 99%

“…Different from traditional control techniques, the INDI methodology calculates the increment of the control input for every sample time based on the system states one time step before, instead of computing the total control input directly (Simplício et al, 2013). Consider an n th order nonlinear control inputs affined systeṁ…”

Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 99%

“…(8) are approximated by applying the first-order Taylor series expansion at the current time instant (Simplício et al, 2013):…”

Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 99%

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Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems * *The first author is sponsored by Chinese Scholarship Council.

et al. 2017

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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 system, which together with an outer-loop motion tracking controller forms a motion control system. Due to the use of feedback of pressure difference derivatives, the proposed technique is not dependent on accurate model and parameters, which makes the controller inherently robust to model uncertainties. Furthermore, The sensor-based control approach is particularly suitable for hydraulic force tracking in existence of an outer-loop controller decoupling hydraulic-mechanic interaction term from the inner-loop dynamics. Simulation results indicate that the novel approach yields better tracking performance and confirm the greater robustness to model and parametric uncertainties compared with a traditional nonlinear dynamic invention approach.

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Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 93%

Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 99%

Section: Proceedings Of the 20th World Congressmentioning

confidence: 99%

Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 99%

“…(8) are approximated by applying the first-order Taylor series expansion at the current time instant (Simplício et al, 2013):…”

Section: Incremental Nonlinear Dynamics Inversion(indi)mentioning

confidence: 99%

See 3 more Smart Citations

Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems * *The first author is sponsored by Chinese Scholarship Council.

et al. 2017

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Two time‐scale assignment with state extension for an autonomous helicopter

Hao

Pei

2020

Asian Journal of Control

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In this paper, a feedback control law based on two time-scale assignment and state extension is implemented for the nonlinear non-minimum phase dynamics of three degree-of-freedom autonomous unmanned helicopters (AUH). Unlike previous techniques, the design procedure does not require time-scale decomposition between attitude angle and translational states. This reduces the requirements for the AUH model and makes the controller more reliable. Time-scale assignment is implemented with partial internal dynamics. Exponential stability of the closed-loop system is proved with the retained non-minimum phase character, and simulation results are provided to demonstrate the effectiveness of the presented approach.

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Incremental adaptive fixed‐wing unmanned aerial vehicle maneuver control with nonlinear disturbance observer: A finite‐time approach

Cao

Wang

2023

Asian Journal of Control

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This article proposes a versatile controller based on the incremental strategy to explore a finite‐time (FT) solution of fixed‐wing unmanned aerial vehicle (UAV) maneuver control considering the lumped disturbances such as unmodeled dynamics or exogenous perturbations. First, a finite‐time nonlinear disturbance observer augmented with a neural network item is developed to attenuate the adverse effect of the disturbances mentioned above. Then considering the estimated lumped disturbance, a finite‐time incremental controller in the quaternion form is proposed. Rigorous proof shows that the nonlinear disturbance observer and controller achieve finite‐time convergence. In the numerical simulation, the superiority of the proposed method compared to several advanced nonlinear control approaches is illustrated, despite the mismatches in aerodynamic coefficients, wind gusts, and actuator failures. Furthermore, based on a novel model identification approach, a hardware‐in‐the‐loop (HITL) experiment is performed in a high‐fidelity environment, wherein our method's feasibility and practicability are verified.

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An acceleration measurements-based approach for helicopter nonlinear flight control using Incremental Nonlinear Dynamic Inversion

Cited by 163 publications

References 12 publications

Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems * *The first author is sponsored by Chinese Scholarship Council.

Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems * *The first author is sponsored by Chinese Scholarship Council.

Two time‐scale assignment with state extension for an autonomous helicopter

Incremental adaptive fixed‐wing unmanned aerial vehicle maneuver control with nonlinear disturbance observer: A finite‐time approach

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