Robust Incremental Nonlinear Dynamic Inversion Controller of Hexapod Flight Simulator Motion System

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientific

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.
Original languageEnglish
Title of host publicationAdvances in Aerospace Guidance, Navigation and Control
Subtitle of host publicationSelected Papers of the Fourth CEAS Specialist Conference on Guidance, Navigation and Control Held in Warsaw, Poland, April 2017
EditorsBogusław Dołęga, Robert Głębocki, Damian Kordos, Marcin Żugaj
PublisherSpringer
Pages87-99
ISBN (Electronic)978-3-319-65283-2
ISBN (Print)978-3-319-65282-5
DOIs
Publication statusPublished - 2018
Event4th CEAS Specialist Conference on Guidance, Navigation and Control - Warsaw, Poland
Duration: 25 Apr 201727 Apr 2017
Conference number: 4
http://eurognc.prz.edu.pl/

Conference

Conference4th CEAS Specialist Conference on Guidance, Navigation and Control
Abbreviated titleEuro GNC 2017
CountryPoland
CityWarsaw
Period25/04/1727/04/17
Internet address

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  • Cite this

    Huang, Y., Pool, D., Stroosma, O., & Chu, Q. (2018). Robust Incremental Nonlinear Dynamic Inversion Controller of Hexapod Flight Simulator Motion System. In B. Dołęga, R. Głębocki, D. Kordos, & M. Żugaj (Eds.), Advances in Aerospace Guidance, Navigation and Control: Selected Papers of the Fourth CEAS Specialist Conference on Guidance, Navigation and Control Held in Warsaw, Poland, April 2017 (pp. 87-99). Springer. https://doi.org/10.1007%2F978-3-319-65283-2_5