基于角加速度估计的非线性增量动态逆控制及试飞

The Incremental Nonlinear Dynamic Inversion (INDI) control law requires estimation of state derivative (angular acceleration) for real-time feedback and exists time delay caused by angular acceleration estimation, This paper proposes research and practical engineering solutions to the above problems. The dynamic model of the flight test Unmanned Aerial Vehicle (UAV) platform was established. The incremental nonlinear dynamic inversion control law and the controller layered design method were used to design the UAV attitude control system. Using Kalman filter, the angular acceleration estimator is designed to provide real-time feedback of angular acceleration for the control law. The control law is implemented by a model-based control system design method, and the actual flight test is performed. The test results show that the control method is achievable in engineering and show good robustness and command tracking capability.