Abstract
This paper presents a motion control strategy for a hexapod flight simulator
based on a novel incremental nonlinear dynamics inversion methodology. By
using the feedback of the motion base acceleration measurement in joint space, this strategy is capable of achieving accurate system linearisation in existence of model inaccuracies which will significantly degrade the performance of a typical inverse dynamics approach. The proposed control scheme is not sensitive to model and parametric mismatch, hence is robust to model uncertainties. This feature is very helpful for a nonlinear simulator motion system without accurate model, while high performance is generally required. The robustness feature of this strategy allows the use of simplified model and state set-points, instead of full model and state feedback, to invert the nonlinear dynamics, which will reduce the computation burden. The performance and robustness of the proposed scheme is validated by numerical simulations.
based on a novel incremental nonlinear dynamics inversion methodology. By
using the feedback of the motion base acceleration measurement in joint space, this strategy is capable of achieving accurate system linearisation in existence of model inaccuracies which will significantly degrade the performance of a typical inverse dynamics approach. The proposed control scheme is not sensitive to model and parametric mismatch, hence is robust to model uncertainties. This feature is very helpful for a nonlinear simulator motion system without accurate model, while high performance is generally required. The robustness feature of this strategy allows the use of simplified model and state set-points, instead of full model and state feedback, to invert the nonlinear dynamics, which will reduce the computation burden. The performance and robustness of the proposed scheme is validated by numerical simulations.
| Original language | English |
|---|---|
| Title of host publication | Advances in Aerospace Guidance, Navigation and Control |
| Subtitle of host publication | Selected Papers of the Fourth CEAS Specialist Conference on Guidance, Navigation and Control Held in Warsaw, Poland, April 2017 |
| Editors | Bogusław Dołęga, Robert Głębocki, Damian Kordos, Marcin Żugaj |
| Publisher | Springer Science+Business Media |
| Pages | 87-99 |
| ISBN (Electronic) | 978-3-319-65283-2 |
| ISBN (Print) | 978-3-319-65282-5 |
| DOIs | |
| Publication status | Published - 2018 |
| Event | 4th CEAS Specialist Conference on Guidance, Navigation and Control - Warsaw, Poland Duration: 25 Apr 2017 → 27 Apr 2017 Conference number: 4 http://eurognc.prz.edu.pl/ |
Conference
| Conference | 4th CEAS Specialist Conference on Guidance, Navigation and Control |
|---|---|
| Abbreviated title | Euro GNC 2017 |
| Country/Territory | Poland |
| City | Warsaw |
| Period | 25/04/17 → 27/04/17 |
| Internet address |