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Nonlinear dynamic inversion and block backstepping: A comparison
KTH, School of Engineering Sciences (SCI).
2012 (English)In: AIAA Guidance, Navigation, and Control Conference 2012, 2012Conference paper (Refereed)
Abstract [en]

Nonlinear dynamic inversion by time scale separation (NDI) offers a quick and sim- ple design route for (full three axis) nonlinear ight control law design that yields a low complexity control law. The resulting closed loop system can be made semiglobally stable but the stability is critically dependent on the fulfillment of the time scale separation as- sumption which in general forces the inner loop (angular rates) to be considerably faster than the outer loop (velocity components). Block backstepping (BBS) is an alternative design method that does not rely on a time scale separation requirement and directly yields semiglobal stability but that involves a somewhat more complicated design procedure and resulting control law. The two methods are closely related, however, and in this paper we make a comparison of them. In particular, we show conditions under which the extra terms in the BBS control law offer (or do not offer) significant advantages over the simple NDI control law. We show this in terms of stability region, sensitivity, and robustness.

Place, publisher, year, edition, pages
Keyword [en]
Alternative designs, Complexity controls, Control law design, Nonlinear dynamic inversion, Semi-global stability, Stability regions, Time scale separation, Velocity components
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-128999DOI: 10.2514/6.2012-4888ScopusID: 2-s2.0-84880589079ISBN: 978-160086938-9OAI: diva2:649085
AIAA Guidance, Navigation, and Control Conference 2012; Minneapolis, MN; United States; 13 August 2012 through 16 August 2012

QC 20130917

Available from: 2013-09-17 Created: 2013-09-17 Last updated: 2013-09-17Bibliographically approved

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Knöös, Johan
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School of Engineering Sciences (SCI)
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