Incremental Nonlinear Dynamics Inversion Control with Nonlinear Disturbance Observer Augmentation for Flight Dynamics

Abstract

A flight controller formulation based on incremental nonlinear dynamics inversion (INDI) control with nonlinear disturbance observer (NDO) is proposed. INDI control is a nonlinear controller based on incremental dynamics. Aimed to attain robustness for nonlinear dynamics inversion (NDI)-based controller, incremental dynamics are derived using the first-order Talyor series expansion to nonlinear systems. The incremental dynamics-based controller requires information on state derivative terms to strengthen the robustness property of the nonlinear controller. The proposed controller utilizes the first-order low-pass filter to obtain the state derivative estimate to implement incremental dynamics into the system. Because the incremental form creates uncertainty term which is an aftermath of the Taylor series expansion, the proposed controller adopts the NDO to eliminate this effect. The controller is applied to the generic transport model which was developed by NASA for simulation purposes. The proposed NDO-based INDI control underwent simulations, together with an INDI controller without disturbance observer, and showed that the developed method results in better performances, providing important advantages where it compensates the uncertainties, removes the steady-state error, and shows less oscillating longitudinal body rate response than the baseline controller, desirable for aerodynamics applications with faster system response.

Keywords

• incremental dynamics
• nonlinear disturbance observer
• nonlinear dynamic inversion control
• flight control
• generic transport model