Design and Analysis of a Robust UAV Flight Guidance and Control System Based on a Modified Nonlinear Dynamic Inversion

Abstract

The work presented in this paper focuses on the design of a robust nonlinear flight control system for a small fixed-wing UAV against uncertainties and external disturbances. Toward this objective, an integrated UAV waypoints guidance scheme based on Carrot Chasing guidance law (CC) in comparison with the pure pursuit and line of sight-based path following (PLOS) guidance law is analyzed. For path following based on CC, a Virtual Track Point (VTP) is introduced on the path to let the UAV chase the path. For PLOS, the pure pursuit guidance law directs the UAV to the next waypoint, while the LOS guidance law steers the vehicle toward the line of sight (LOS). Nonlinear Dynamic Inversion (NLDI) awards the flight control system researchers a straight forward method of deriving control laws for nonlinear systems. The control inputs are used to eliminate unwanted terms in the equations of motion using negative feedback of these terms. The two-time scale assumption is adopted here to separate the fast dynamics—three angular rates of aircraft—from the slow dynamics—the angle of attack, sideslip, and bank angles. However, precise dynamic models may not be available, therefore a modification of NLDI is presented to compensate the model uncertainties. Simulation results show that the modified NLDI flight control system is robust against wind disturbances and model mismatch. PLOS path-following technique more accurately follows the desired path than CC and also requires the least control effort.