The Study and Design of UAV Dynamic Inversion Flight Control Law
That the dynamic model is characteristic of nonlinearity and that linear equation design approach based on small perturbations of linear system has failed to meet the design requirements cause the study of the dynamic inversion control. Integrating the dynamic inversion theory and the UAV nonlinear mathematical model, the paper, in accordance with the speed of status variable change, has designed respectively the UAV inner-loop fast variable and outer-loop slow variable controllers and thus, found the dynamic inversion flight control law applicable to UAV and conducted the simulation study. A conclusion can be drawn that the control law is satisfactory in flight control.
Liangchi Zhang, Chunliang Zhang and Tielin Shi
J. L. He et al., "The Study and Design of UAV Dynamic Inversion Flight Control Law", Advanced Materials Research, Vols. 139-141, pp. 1757-1762, 2010