Higher Order Reference Model for Continuous Dynamic Inversion Control

Abstract

View Video Presentation: https://doi.org/10.2514/6.2021-1130.vid This paper aims to incorporate the effect of identifiable disturbances–state dependent damping terms in the continuous extension of incremental nonlinear dynamic inversion [1] control strategy. A reference model structure is proposed which uses dynamic inversion using any known plant dynamics for feedforward generation. This approach is different from the classical nonlinear dynamic inversion in which a plant model is inverted to compute control inputs. Alternatively, in the introduced architecture additional plant knowledge is only used for the feedforward term which is one derivative level higher than the relative degree of the system. The overall control strategy combines advantages of nonlinear dynamic inversion in the feedforward path while retaining the robustness characteristics of the incremental strategy in the feedback loop.