Nonlinear dynamic inversion with generalized actuator dynamics: Performance and stability

被引：0

作者：

Liu, Yue ^{[1
]}

Steinert, Agnes ^{[2
]}

Hong, Haichao ^{[1
]}

Li, Hangxu ^{[2
]}

Hu, Shiqiang ^{[1
]}

机构：

[1] School of Aeronautics and Astronautics, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai,200240, China

[2] Institute of Flight System Dynamics, Technical University of Munich, Boltzmannstrasse 15, Garching bei München,85748, Germany

来源：

Aerospace Science and Technology | 2025年 / 162卷

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1016/j.ast.2025.110218

中图分类号：

学科分类号：

摘要：

Nonlinear Dynamic Inversion with Actuators (ANDI) improves the tracking performance of Nonlinear Dynamic Inversion (NDI) by incorporating actuator dynamics. However, the performance of ANDI under more generalized actuator models remains unknown. In this work, we investigate ANDI with a focus on these generalized actuator dynamics. The performance of ANDI is examined by deriving the error dynamics, and the stability of ANDI is proven using the Lyapunov theory. Moreover, by revealing the state-dependent terms neglected in the Incremental Nonlinear Dynamic Inversion (INDI), a clearer analytical comparison between the above-mentioned NDI variants is achieved. The theoretical findings are validated in simulations considering the nonlinear pitch motion of a missile and a linear second-order actuator model across various actuator bandwidths. © 2025 Elsevier Masson SAS

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