Aiming at strong aerodynamic coupling,poor directional stability,and modelling challenges in flying-wing UAVs,this study proposes an incremental nonlinear dynamic inversion(INDI)control method incorporating complement...Aiming at strong aerodynamic coupling,poor directional stability,and modelling challenges in flying-wing UAVs,this study proposes an incremental nonlinear dynamic inversion(INDI)control method incorporating complementary filtering.First,an attitude controller is designed using angular acceleration feedback to decouple aerodynamic interactions without relying on precise system models.Second,complementary filtering is introduced to estimate angular acceleration,resolving phase lag and avoiding noise amplification inherent in differentiation.Finally,robustness is validated through comparative simulations with PID control under aerodynamic parameter perturbations and angular rate noise.Results demonstrate that the proposed method enhances robustness to parametric uncertainties and suppresses noise effects more effectively than PID,achieving stable attitude tracking.The framework addresses aerospacespecific nonlinear dynamics and stability challenges,providing a model-agnostic control solution for morphologically complex UAVs.展开更多
Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based c...Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based controller.This paper,the second part of a two-part series of surveys on INDI,aims to summarize the modern trends in INDI and its related components.Besides a comprehensive components specification,it addresses their most common challenges,compares different variants,and discusses proposed advances.Further important aspects of INDI are gain design,stability,and robustness.This paper also provides an overview of research conducted concerning these aspects.This paper is written in a tutorial style to familiarize researchers with the essential specifics and pitfalls of INDI and its components.At the same time,it can also serve as a reference for readers already familiar with INDI.展开更多
This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents differe...This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents different basic INDI variants and their specifics,such as modelbased INDI,sensor-based INDI,and hybrid INDI.Furthermore,it sets these different approaches in context with each other.Later developments of INDI explicitly consider actuator dynamics.Those concepts are summarized and discussed in detail.Subsequently,studies that relate INDI to other control methods are summarized.Finally,an overview of various applications of INDI is given,covering different types of control loops and various types of vehicles and plants.This paper seeks to set these developments into context with each other.The purpose of this paper is twofold.INDI is already well-known in the domain of flight control but less so in other fields.Therefore,the paper is written in a comprehensive tutorial style to provide easy access to readers unfamiliar with the topic.On the other hand,the paper can serve as a reference for readers familiar with the topic.展开更多
Carrier-based aircraft exhibit highly complex coupling characteristics across control channels.To address the control coupling issues encountered during carrier-based aircraft landing,as well as the undershoot phenome...Carrier-based aircraft exhibit highly complex coupling characteristics across control channels.To address the control coupling issues encountered during carrier-based aircraft landing,as well as the undershoot phenomenon observed in trajectory adjustment,this paper proposes a direct longitudinal force control method based on the vertical translation mode.The proposed method enables decoupled control of altitude,velocity,and pitch channels while maintaining the aircraft’s attitude stability.This approach simplifies the control logic and eliminates the undershoot phenomenon in trajectory adjustment.Furthermore,given the difficulty in acquiring the relative position between the aircraft and the carrier,a Kalman filter-based multi-source signal fusion method is introduced,which effectively suppresses the noise interference in radar signal acquisition by the carrier-based aircraft.Simulation results demonstrate that the proposed composite control method enables rapid trajectory tracking and enhances landing accuracy.展开更多
Addressing the issues of nonlinearity,control redundancy and coupling,and system uncertainties in the deceleration transition process from level flight to hover in short takeoff and vertical landing(STOVL)aircraft,thi...Addressing the issues of nonlinearity,control redundancy and coupling,and system uncertainties in the deceleration transition process from level flight to hover in short takeoff and vertical landing(STOVL)aircraft,this paper establishes a six-degree-of-freedom nonlinear mathematical model for the STOVL deceleration transition process.An augmented control method based on L_(1)adaptive control is proposed for the deceleration transition process:dynamic inversion(DI)method is used to design the fundamental control laws for the inner and the outer loops,while an L_(1)adaptive controller is employed as the augmented controller to enhance performance and robustness under system uncertainties.Simulation results validate that this method effectively suppresses system uncertainties and improves the transition control performance.展开更多
文摘Aiming at strong aerodynamic coupling,poor directional stability,and modelling challenges in flying-wing UAVs,this study proposes an incremental nonlinear dynamic inversion(INDI)control method incorporating complementary filtering.First,an attitude controller is designed using angular acceleration feedback to decouple aerodynamic interactions without relying on precise system models.Second,complementary filtering is introduced to estimate angular acceleration,resolving phase lag and avoiding noise amplification inherent in differentiation.Finally,robustness is validated through comparative simulations with PID control under aerodynamic parameter perturbations and angular rate noise.Results demonstrate that the proposed method enhances robustness to parametric uncertainties and suppresses noise effects more effectively than PID,achieving stable attitude tracking.The framework addresses aerospacespecific nonlinear dynamics and stability challenges,providing a model-agnostic control solution for morphologically complex UAVs.
文摘Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based controller.This paper,the second part of a two-part series of surveys on INDI,aims to summarize the modern trends in INDI and its related components.Besides a comprehensive components specification,it addresses their most common challenges,compares different variants,and discusses proposed advances.Further important aspects of INDI are gain design,stability,and robustness.This paper also provides an overview of research conducted concerning these aspects.This paper is written in a tutorial style to familiarize researchers with the essential specifics and pitfalls of INDI and its components.At the same time,it can also serve as a reference for readers already familiar with INDI.
文摘This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents different basic INDI variants and their specifics,such as modelbased INDI,sensor-based INDI,and hybrid INDI.Furthermore,it sets these different approaches in context with each other.Later developments of INDI explicitly consider actuator dynamics.Those concepts are summarized and discussed in detail.Subsequently,studies that relate INDI to other control methods are summarized.Finally,an overview of various applications of INDI is given,covering different types of control loops and various types of vehicles and plants.This paper seeks to set these developments into context with each other.The purpose of this paper is twofold.INDI is already well-known in the domain of flight control but less so in other fields.Therefore,the paper is written in a comprehensive tutorial style to provide easy access to readers unfamiliar with the topic.On the other hand,the paper can serve as a reference for readers familiar with the topic.
基金supported in part by the National Natural Science Foundation of China,grant numbers 62573253 and 62203259the Young Elite Scientists Sponsorship Programby CAST,grant number 2023QNRC001+1 种基金the Aeronautical Science Foundation of China,grant number 20240058058001the Foundation of the National Key Laboratory of Aircraft Configuration Design,grant number ZZKY-202505.
文摘Carrier-based aircraft exhibit highly complex coupling characteristics across control channels.To address the control coupling issues encountered during carrier-based aircraft landing,as well as the undershoot phenomenon observed in trajectory adjustment,this paper proposes a direct longitudinal force control method based on the vertical translation mode.The proposed method enables decoupled control of altitude,velocity,and pitch channels while maintaining the aircraft’s attitude stability.This approach simplifies the control logic and eliminates the undershoot phenomenon in trajectory adjustment.Furthermore,given the difficulty in acquiring the relative position between the aircraft and the carrier,a Kalman filter-based multi-source signal fusion method is introduced,which effectively suppresses the noise interference in radar signal acquisition by the carrier-based aircraft.Simulation results demonstrate that the proposed composite control method enables rapid trajectory tracking and enhances landing accuracy.
基金co-supported by the grant from the Fundamental Research Funds for the Central Universities(No.56XCA2402810)Science Center for Gas Turbine Project(P2022-B-V-002-001)
文摘Addressing the issues of nonlinearity,control redundancy and coupling,and system uncertainties in the deceleration transition process from level flight to hover in short takeoff and vertical landing(STOVL)aircraft,this paper establishes a six-degree-of-freedom nonlinear mathematical model for the STOVL deceleration transition process.An augmented control method based on L_(1)adaptive control is proposed for the deceleration transition process:dynamic inversion(DI)method is used to design the fundamental control laws for the inner and the outer loops,while an L_(1)adaptive controller is employed as the augmented controller to enhance performance and robustness under system uncertainties.Simulation results validate that this method effectively suppresses system uncertainties and improves the transition control performance.
