Attitude Tracking Control Based on Direct Dynamic Inversion

In this paper, a nonlinear dynamic inversion control law is presented for unpowered flying vehicle firstly, meanwhile inertia uncertainty and aerodynamic moment uncertainty are taken into consideration. Compared with previous presentation, this paper proposes a direct control strategy, which doesn´t base on time separation assumption. The vehicle model is a nonlinear and time-varying system, the illustration of the global stability analysis is given secondly, the validity of the proposed control law is demonstrated by six-degree-of-freedom simulation finally.