A Unified Approach to Nonlinear Dynamic Inversion Control with Parameter Determination by Eigenvalue Assignment

  • 王 昱琪

Student thesis: Doctoral Thesis


This dissertation presents a unified approach to nonlinear dynamic inversion control algorithm with the parameters for desired dynamics determined in unmanned aerial vehicle using an eigenvalue assignment method which may be applied for actual systems in a very straightforward and convenient way By using the proposed method it is not necessary to transform the nonlinear equations into linear equations by feedback linearization before beginning control designs The applications of this method are not limited to affine nonlinear control systems nor are limited to minimum phase problems if the eigenvalues of tracking dynamics are carefully assigned so that the desired dynamics is stable The control design by using this method is shown to be robust to modeling uncertainties To validate the theory the design of F-16 like UAV control system is presented as an example with numerical simulations to show the performance of the design to be quite remarkable
Date of Award2016 Jul 20
Original languageEnglish
SupervisorChin-E. Lin (Supervisor)

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