Title :
Robust trajectory-tracking method for UAV using nonlinear dynamic inversion
Author :
Xie, Zhufeng ; Xia, Yuanqing ; Fu, Mengyin
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
This paper discusses the flight control strategy based on nonlinear dynamic inversion. A detailed description of a six-degree-of-freedom nonlinear flight control scheme for unmanned aerial vehicles (UAVs) is proposed for tracking the aircraft trajectory in three-dimensional space. Combining the PI control scheme, a nonlinear dynamic inversion controller is designed to linearize the dynamics of UAVs. Also, simulation results are presented to illustrate the effectiveness of the control strategy.
Keywords :
PI control; aircraft; mobile robots; nonlinear dynamical systems; position control; remotely operated vehicles; robust control; PI control scheme; aircraft trajectory; nonlinear dynamic inversion; nonlinear flight control scheme; robust trajectory tracking method; unmanned aerial vehicles; Aerodynamics; Aircraft; Equations; Mathematical model; Nonlinear dynamical systems; Trajectory; Vectors;
Conference_Titel :
Cybernetics and Intelligent Systems (CIS), 2011 IEEE 5th International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-61284-199-1
DOI :
10.1109/ICCIS.2011.6070308
