In this paper, an incremental nonlinear dynamic inversion (INDI) control scheme is proposed for the attitude tracking of a helicopter with model uncertainties, and actuator delay saturation constraints. A finite integral compensation based on reduction used to compensate delay, can guarantee semi-globally uniformly ultimately bounded tracking. The overall controller separated into rate, attitud...

the nonlinear static procedures (nsps) proposed by design codes do not lead to reliable results especially for tall buildings. they generally provide inconsistent estimates of inelastic seismic demands, especially for the top floors due to their inabilities in considering the higher modes effects. in this paper, a new enhanced pushover procedure is proposed which is based on the envelope of the...

This paper presents a position control design for quadrotors, aiming to exploit the physical capability and maximize the full control bandwidth of the quadrotor. A novel noncascaded dynamic inversion design is used for the baseline control, augmented by an L1 adaptive control in the rotational dynamics. A new implementation technique is developed in the linear reference model and error controll...

We study ultrafast excitonic population inversion resulting from the interaction of a semiconductor quantum dot (SQD) with localized surface plasmons. The plasmonic enhanced fields are generated when a metallic nanoparticle (MNP) is subject to a nonlinear chirped few-cycle pulse train. By numerically solving the time-dependent Bloch equations beyond the rotating-wave approximation, we show that...

This paper presents an attitude control algorithm for a Reusable Launch Vehicle (RLV) with a low lift/drag ratio (L/D < 0.5), in the presence of external disturbances, model uncertainties, control output constraints and the thruster model. The main novelty of proposed control strategy is a new combination of the attitude control methods included backstepping, dynamic inversion and adaptive cont...

Traditional adaptive control assumes full control authority and lacks an adequate theoretical treatment for control in the presence of actuator saturation limits. The adaptive dynamic inversion control methodology, which uses dynamic inversion to calculate the control and adaptation to compensate for errors in the inversion due to model uncertainties, also lacks an adequate theoretical treatmen...

Nonlinear inverse dynamic models can be utilized in various parts of advanced model-based control system design: reference trajectory optimization, feedforward control and feedback linearization [35]. In this paper, a new synthesis approach for nonlinear inverse dynamic models of satellites with flexible structures is presented. For satellite configurations with unstable zero dynamics, a stable...

Local collision avoidance is an important problem that must be solved for safe autonomous flight of Unmanned Aerial Vehicles (UAVs). In order to successfully find a solution to this problem, an elaborate literature survey has been conducted. This survey of literature led to a fairly thorough understanding of the state-of-art techniques in the areas of path planning and collision avoidance of UA...

A new approach for the automatic generation of a dynamic feedforward control law for nonlinear dynamic systems represented by discrete-time local model networks (LMN) is proposed. The generic model structure of LMNs offers the opportunity to apply such a general and automated approach for model inversion, even when the overall model complexity may be high. LMNs can represent nonlinear dynamic s...