Stability Analysis for Incremental Nonlinear Dynamic Inversion Control

Cascaded Incremental Nonlinear Dynamic Inversion Control for MAV Disturbance Rejection

Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control technique that can control nonlinear systems subject ...

PI(D) tuning for Flight Control Systems via Incremental Nonlinear Dynamic Inversion

Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) — more familiar in the aerospace community — are in fact equivalent to TDC. This leads to a meaningful and systematic method for PI(D)-control tuning of robust no...

Stability of the Modified Euler Method for Nonlinear Dynamic Analysis of TLP

Efficiency of numerical methods is an important problem in dynamic nonlinear analyses. It is possible to use of numerical methods such as beta-Newmark in order to investigate the structural response behavior of the dynamic systems under random sea wave loads but because of necessity to analysis the offshore systems for extensive time to fatigue study it is important to use of simple stable meth...

Seismic Design of Steel Structures Based on Ductility and Incremental Nonlinear Dynamic Analysis

In this paper a simple tool for seismic design of steel structures for a selected ductility level is presented. For this purpose, a consistent set of earthquakes is selected and sorted based on the maximum acceleration of ground surface. The selected records are applied as the base motion to a single-degree-of-freedom system with strain hardening and the maximum response acceleration is determi...

Nonlinear Dynamic Inversion Control of a Miniature Morphing Aircraft