Recent Articles and Multimedia
Paper Title: On the Equivalence of Sensory and Incremental Nonlinear Dynamic Inversion
Authors: Simon F. Hafner, Tomaso M. L. De Ponti, and Ewoud J. J. Smeur
Nonlinear Dynamic Inversion (NDI)–based control laws, such as incremental NDI and the recently introduced sensory NDI, differ primarily in the allocation of pseudo-controls and are widely applied in the aerospace control domain. This paper provides a rigorous comparison of both methods, demonstrating their equivalence for specific systems and control-allocation designs, and presents flight-test results of sensory NDI on a Variable Skew Quad Plane.
READ MORE ABOUT THIS PAPER HERE
Block diagram of the sensory NDI controller, where RM/EC represents the reference model and error controller, A(s) the actuator and H(z) the sensor and estimator dynamics.