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Affiliation of Author(s):航空学院

Title of Paper:An Improved Nonlinear Dynamic Inversion Method for Altitude and Attitude Control of Nano Quad-Rotors under Persistent Uncertainties

Journal:Trans. Nanjing Univ. Aero. Astro.

Abstract:Nonlinear dynamic inversion (NDI) has been applied to the control law design of quad-rotors mainly thanks to its good robustness and simplicity of parameter tuning. However, the weakness of relying on accurate model greatly restrains its application on quad-rotors, especially nano quad-rotors (NQRs). NQRs are easy to be influenced by uncertainties such as model uncertainties (mainly from complicated aerodynamic interferences, strong coupling in roll-pitch-yaw channels and inaccurate aerodynamic prediction of rotors) and external uncertainties (mainly from winds or gusts), particularly persistent ones. Therefore, developing accurate model for altitude and attitude control of NQRs is difficult. To solve this problem, in this paper, an improved nonlinear dynamic inversion (INDI)method is developed, which can reject the above-mentioned uncertainties by estimating them and then counteracting in real time using linear extended state observer (LESO). Comparison with the traditional NDI(TNDI) method was carried out numerically, and the results show that, in coping with persistent uncertainties, the INDI-based method presents significant superiority. © 2018, Editorial Department of Transactions of NUAA. All right reserved.

ISSN No.:1005-1120

Translation or Not:no

Date of Publication:2018-06-01

Co-author:王源

Correspondence Author:cml