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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 548050, 13 pages
http://dx.doi.org/10.1155/2015/548050
Research Article

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

Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan 701, Taiwan

Received 8 September 2015; Revised 13 November 2015; Accepted 16 November 2015

Academic Editor: Rongwei Guo

Copyright © 2015 Yu-Chi Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper presents a unified approach to nonlinear dynamic inversion control algorithm with the parameters for desired dynamics determined by using an eigenvalue assignment method, which may be applied in a very straightforward and convenient way. By using this 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 or limited to minimum phase problems if the eigenvalues of error 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 a UAV control system is presented as an example. Numerical simulations show the performance of the design to be quite remarkable.