Higher order reference model for continuous dynamic inversion control

Pranav Bhardwaj, Stefan Raab, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

This paper aims to incorporate the effect of identifiable disturbances–state dependent damping terms in the continuous extension of incremental nonlinear dynamic inversion [1] control strategy. A reference model structure is proposed which uses dynamic inversion using any known plant dynamics for feedforward generation. This approach is different from the classical nonlinear dynamic inversion in which a plant model is inverted to compute control inputs. Alternatively, in the introduced architecture additional plant knowledge is only used for the feedforward term which is one derivative level higher than the relative degree of the system. The overall control strategy combines advantages of nonlinear dynamic inversion in the feedforward path while retaining the robustness characteristics of the incremental strategy in the feedback loop.

Original languageEnglish
Title of host publicationAIAA Scitech 2021 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Pages1-15
Number of pages15
ISBN (Print)9781624106095
DOIs
StatePublished - 2021
EventAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021 - Virtual, Online
Duration: 11 Jan 202115 Jan 2021

Publication series

NameAIAA Scitech 2021 Forum

Conference

ConferenceAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021
CityVirtual, Online
Period11/01/2115/01/21

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