Abstract This paper presents a motion control strategy for a hexapod flight simulator based on a novel incremental nonlinear dynamics inversion methodology. By using the feedback of the motion base acceleration measurement in joint space, this strategy is capable of achieving accurate system linearisation in existence of model inaccuracies which will significantly degrade the performance of a typical inverse dynamics approach. The proposed control scheme is not sensitive to model and parametric mismatch, hence is robust to model uncertainties. This feature is very helpful for a nonlinear simulator motion system without accurate model, while high performance is generally required. The robustness feature of this strategy allows the use of simplified model and state set-points, instead of full model and state feedback, to invert the nonlinear dynamics, which will reduce the computation burden. The performance and robustness of the proposed scheme is validated by numerical simulations.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust Incremental Nonlinear Dynamic Inversion Controller of Hexapod Flight Simulator Motion System


    Contributors:
    Huang, Yingzhi (author) / Pool, D. M. (author) / Stroosma, O. (author) / Chu, Qiping (author)


    Publication date :

    2017-12-15


    Size :

    13 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Modeling and Simulation of Hydraulic Hexapod Flight Simulator Motion Systems

    Huang, Yingzhi / Pool, Daan M. / Stroosma, Olaf et al. | AIAA | 2016



    Robust Nonlinear Spacecraft Attitude Control using Incremental Nonlinear Dynamic Inversion.

    Acquatella, Paul / Falkena, Wouter / van Kampen, Erik-Jan et al. | AIAA | 2012


    Adaptive Hexapod Simulator Motion Based on Aircraft Stability

    Zaal, Peter M. T. / Popovici, Alexandru / Lewis, Emily K. | NTRS | 2020


    Modeling and Simulation of Hydraulic Hexapod Flight Simulator Motion Systems (AIAA 2016-1437)

    Huang, Yingzhi / Pool, Daan M. / Stroosma, Olaf et al. | British Library Conference Proceedings | 2016