A Modified Nonlinear Dynamic Inversion Method for Attitude Control of UAVs under Persistent Disturbances
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所属单位：航空学院
发表刊物：2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017)
关键字：NDI LESO UAV disturbances rejection attitude control
摘要：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.
是否译文：否
发表时间：2017-01-01
合写作者：Chang, Huiyuan,Liu, Yuanyuan,郑祥明
通讯作者：王媛