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What is Nonlinear Dynamic Inversion for UAVs about?

This document describes the design of a nonlinear dynamic inversion (NDI) controller for trajectory following and maneuvering of fixed-wing aircraft. The controller uses NDI principles to develop a cascaded linear controller structure with inner and outer loops. It addresses control coupling and can be extended to state decoupling. The design procedure exploits the equations of motion written in the wind axis, using only relevant stability and control derivatives. Gains are tuned for adequate trajectory fol

Author

HimanshuPrabhat

Language

EN