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A study on the dynamic inversion with Lyapunov method
Automatic Control in Aerospace, Volume # 18 | Part# 1
Location: Nara-ken Shinkokaido, Japan
National Organizing Committee Chair: Nakasuka, Shinichi
International Program Committee Chair: Siguerdidjane, Houria
Conference Editor: Ochi, Yoshimasa,
Siguerdidjane, Houria,
Nakasuka, Shinichi
Authors
Enomoto, Keisuke
Digital Object Identifier (DOI)
10.3182/20100906-5-JP-2022.00092
Page Numbers:
542-547
Index Terms
UAV,flight control,attitude control,dynamic inversion,Lyapunov function
Abstract
This paper introduces the dynamic inversion with the Lyapunov function method. This is for a guidance and control system of a chase UAV with the velocity controller which is designed based on a dynamic inversion approach. The guidance and control system employs the pure pursuit guidance to determine the UAV's orientation, and a two-time scale dynamic inversion technique to control the attitude. All together, they enable the UAV to keep formation flight.
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