A dynamic inversion controller design for miniature Unmanned Aerial Vehicles

This article focuses on the nonlinear control issue of miniature Unmanned Aerial Vehicles(UAVs). A complete nonlinear model for miniature fixed-wing UAVs is structured and simplified as an affine nonlinear system aiming at the fast dynamic loop of key attitude control. We adopt the state feedback method to dynamic inversion controller design. To compensate the external disturbance and modeling error, an adaptive compensation algorithm is discussed and an online estimation way for the error coefficient and the external disturbance is presented, which guarantees the asymptotic stability. Simulation result shows that the controller is of short response time and small overshoot, and can achieve decoupling between channels, while the adaptive algorithm can converge quickly with automatic compensation for external disturbances, not well equipped aircraft, and parameters error and so on.