TY - JOUR
T1 - Stability Analysis for Incremental Nonlinear Dynamic Inversion Control
AU - Wang, Xuerui
AU - van Kampen, Erik-Jan
AU - Chu, Qiping
AU - Lu, Peng
N1 - Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
PY - 2019
Y1 - 2019
N2 - As a sensor-based control method, incremental nonlinear dynamic inversion (INDI) has been applied to various aerospace systems and has shown desirable robust performance against aerodynamic model uncertainties. However, its previous derivation based on the time scale separation principle has some limitations. There is also a need for stability and robustness analysis for INDI. Therefore, this paper reformulates the INDI control law without using the time scale separation principle and generalizes it for systems with arbitrary relative degree, with consideration of the internal dynamics. The stability of the closed-loop system in the presence of external disturbances is analyzed using Lyapunov methods and nonlinear system perturbation theory. Moreover, the robustness of the closed-loop system against regular and singular perturbations is analyzed. Finally, this reformulated INDI control law is verified by a Monte Carlo simulation for an aircraft command tracking problem in the presence of external disturbances and model uncertainties.
AB - As a sensor-based control method, incremental nonlinear dynamic inversion (INDI) has been applied to various aerospace systems and has shown desirable robust performance against aerodynamic model uncertainties. However, its previous derivation based on the time scale separation principle has some limitations. There is also a need for stability and robustness analysis for INDI. Therefore, this paper reformulates the INDI control law without using the time scale separation principle and generalizes it for systems with arbitrary relative degree, with consideration of the internal dynamics. The stability of the closed-loop system in the presence of external disturbances is analyzed using Lyapunov methods and nonlinear system perturbation theory. Moreover, the robustness of the closed-loop system against regular and singular perturbations is analyzed. Finally, this reformulated INDI control law is verified by a Monte Carlo simulation for an aircraft command tracking problem in the presence of external disturbances and model uncertainties.
UR - http://www.scopus.com/inward/record.url?scp=85062832646&partnerID=8YFLogxK
U2 - 10.2514/1.G003791
DO - 10.2514/1.G003791
M3 - Article
SN - 0731-5090
VL - 42
SP - 1116
EP - 1129
JO - Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control
JF - Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control
IS - 5
ER -