论文标题
使用执行器动力学的非线性动态反演：增量控制透视图
Non-Linear Dynamic Inversion with Actuator Dynamics: an Incremental Control Perspective
论文作者
论文摘要
在本文中，我们得出了具有一阶线性执行器的非线性系统的基于传感器的非线性动态反转（NDI）控制定律，并将其与近年来越来越流行的增量非线性动态反演（INDI）进行比较。结果表明，对于一阶执行动力学，INDI在足够快的执行器的条件下任意近似于相应的NDI控制法。如果执行器带宽与州的变化相比低，则与INDI相比，派生的NDI控制定律具有以下优点：1）国家导数项的补偿2）误差良好的误差动力学和3）参考模型的精确跟踪，独立于名义条件下的误差控制器。 INDI控制定律与建立的控制设计方法NDI的比较增加了对增量控制的理解。还显示了如何量化有限带宽执行器的确切的NDI定律的INDI控制定律的缺陷。通过固定机翼飞机滚动运动的模拟结果证实了结果。
In this paper, we derive a sensor based Nonlinear Dynamic Inversion (NDI) control law for a nonlinear system with first-order linear actuators, and compare it to Incremental Nonlinear Dynamic Inversion (INDI), which has gained popularity in recent years. It is shown that for first-order actuator dynamics, INDI approximates the corresponding NDI control law arbitrarily well under the condition of sufficiently fast actuators. If the actuator bandwidth is low compared to changes in the states, the derived NDI control law has the following advantages compared to INDI: 1) compensation of state derivative terms 2) well defined error dynamics and 3) exact tracking of a reference model, independent of error controller gains in nominal conditions. The comparison of the INDI control law with the well established control design method NDI adds to the understanding of incremental control. It is additionally shown how to quantify the deficiency of the INDI control law with respect to the exact NDI law for actuators with finite bandwidth. The results are confirmed through simulation results of the rolling motion of a fixed wing aircraft.
