Incremental nonlinear dynamic inversion shows good robustness and low dependence on the model information. In this study, incremental nonlinear dynamic inversion is improved and utilized to solve the six-degrees-of-freedom waypoint tracking problem of fixed-wing unmanned aerial vehicles (UAVs). This research is focused on studying the acquisition of the state derivatives and the processing method of the derivative time delay. A nondelay differentiator design method and an incremental gain method that responds to time delay are developed in this study. Additionally, a universal waypoint navigation method based on incremental nonlinear dynamic inversion is put forward to enable the aircraft to successfully reach its waypoint from any spatial position and under any motion states. Finally, the proposed improvements of the incremental nonlinear dynamic inversion are verified through flight tests.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Application of the Improved Incremental Nonlinear Dynamic Inversion in Fixed-Wing UAV Flight Tests


    Weitere Titelangaben:

    J. Aerosp. Eng.


    Beteiligte:
    Liu, Zhenchang (Autor:in) / Zhang, Yufei (Autor:in) / Liang, JianJian (Autor:in) / Chen, Haixin (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2022-11-01




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Flight Control Law Design using Hybrid Incremental Nonlinear Dynamic Inversion

    Kumtepe, Yagiz / Pollack, Tijmen / Van Kampen, Erik-Jan | AIAA | 2022


    Flight Control Law Design Using Hybrid Incremental Nonlinear Dynamic Inversion

    Kumtepe, Yagiz / Pollack, Tijmen / Kampen, Erik-Jan Van | TIBKAT | 2022


    Robust proportional incremental nonlinear dynamic inversion control of a flying-wing tailsitter

    Yang, Yunjie / Wang, Xiangyang / Zhu, Jihong et al. | SAGE Publications | 2020


    Adaptive Incremental Nonlinear Dynamic Inversion Flight Control for Consistent Handling Qualities

    Smit, Beau / Pollack, Tijmen / Van Kampen, Erik-Jan | AIAA | 2022