A Modified Nonlinear Dynamic Inversion Method for Attitude Control of UAVs under Persistent Disturbances

Affiliation of Author(s):航空学院

Journal:2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017)

Key Words:NDI LESO UAV disturbances rejection attitude control

Abstract:Nonlinear dynamic inversion (NDI) has been applied to the control law design of UAVs for many years mainly due to its good robustness. However, it has a weakness of relying on accurate model of the plant greatly, which restrains its application since UAVs are easy to be influenced by persistent disturbances such as model uncertainties, winds and gusts; thus, development of accurate model for attitude control of UAVs is difficult. To solve the problem, in this paper, a modified nonlinear dynamic inversion (MNDI) method based on linear extended state observer (LESO), which rejects the above disturbances by estimating them and then counteracting, is developed. Comparison with the traditional NDI (TNDI) method was carried out numerically; the results show that, in coping with persistent disturbances, the MNDI-based method presents significant superiority.

Translation or Not:no

Date of Publication:2017-01-01

Co-author:Chang, Huiyuan,Liu, Yuanyuan,Zheng Xiangming

Correspondence Author:Wang Yuan

Date of Publication:2017-01-01