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首页> 外文期刊>Journal of guidance, control, and dynamics >Stability Analysis for Incremental Nonlinear Dynamic Inversion Control
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Stability Analysis for Incremental Nonlinear Dynamic Inversion Control

机译：增量非线性动态逆控制的稳定性分析

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摘要

As a sensor-based control method, incremental nonlinear dynamic inversion (INDI) has been applied to various aerospace systems and has shown desirable robust performance against aerodynamic model uncertainties. However, its previous derivation based on the time scale separation principle has some limitations. There is also a need for stability and robustness analysis for INDI. Therefore, this paper reformulates the INDI control law without using the time scale separation principle and generalizes it for systems with arbitrary relative degree, with consideration of the internal dynamics. The stability of the closed-loop system in the presence of external disturbances is analyzed using Lyapunov methods and nonlinear system perturbation theory. Moreover, the robustness of the closed-loop system against regular and singular perturbations is analyzed. Finally, this reformulated INDI control law is verified by a Monte Carlo simulation for an aircraft command tracking problem in the presence of external disturbances and model uncertainties.
机译：作为基于传感器的控制方法，增量非线性动态反演（INDI）已应用于各种航空航天系统，并且已显示出对航空动力学模型不确定性具有令人满意的鲁棒性能。然而，其先前基于时间标度分离原理的推导具有一定的局限性。还需要针对INDI进行稳定性和鲁棒性分析。因此，本文在不使用时间标度分离原理的情况下重新制定了INDI控制律，并在考虑内部动力学的情况下将其推广到具有任意相对程度的系统。利用Lyapunov方法和非线性系统摄动理论分析了存在外部干扰的闭环系统的稳定性。此外，分析了闭环系统对规则和奇异摄动的鲁棒性。最后，在外部干扰和模型不确定性存在的情况下，通过蒙特卡罗模拟对飞机命令跟踪问题进行了验证，从而重新验证了这种重新制定的INDI控制律。

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  • 来源
    《Journal of guidance, control, and dynamics》 |2019年第5期|1116-1129|共14页
  • 作者

    Wang Xuerui; van Kampen Erik-Jan; Chu Qiping; Lu Peng;

  • 作者单位

    Delft Univ Technol, Fac Aerosp Engn, Control & Simulat Sect, Kluyverweg 1, NL-2629 HS Delft, Netherlands;

    Delft Univ Technol, Fac Aerosp Engn, Control & Simulat Sect, Kluyverweg 1, NL-2629 HS Delft, Netherlands;

    Delft Univ Technol, Fac Aerosp Engn, Control & Simulat Sect, Kluyverweg 1, NL-2629 HS Delft, Netherlands;

    Hong Kong Polytech Univ, Interdisciplinary Div Aeronaut & Aviat Engn, Hung Hom, Hong Kong, Peoples R China;

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