Unmanned Aerial Vehicles (UAVs) are vital in both civilian and military applications; yet, their complex and nonlinear dynamics pose significant challenges to achieving stability and reliability. Effective guidance and control are crucial for safe and efficient operation of UAVs, particularly in uncertain operating conditions. This paper presents a modification of an incremental nonlinear dynamic inversion (INDI) approach to enhance the robustness and tracking performance of UAV flight control systems. The proposed modified incremental nonlinear dynamic inversion (MINDI) incorporates key adaptations to address the limitations of conventional INDI, particularly its sensitivity to uncertainties and suboptimal performance in dynamic scenarios. By ensuring asymptotic stability and improving robustness to aerodynamic uncertainties, MINDI achieves superior control accuracy and reliability compared to existing NDI and INDI techniques. The simulation results validate the effectiveness of the proposed strategy, demonstrating its capability to outperform in challenging flight conditions.
Robustness of UAV Flight Control System Via Modified Incremental Nonlinear Dynamic Inversion
12.05.2025
914211 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch