Design of an Online Error Compensator by the Approach of Nonlinear Dynamic Inverse

摘要

In this paper, it is discussed how to design an online error compensator for a flight control system by the method of nonlinear dynamic inverse. By the theory of nonlinear dynamic inverse, a pseudo-linear system can be attained from the original nonlinear system by means of linearization-via-feedback and dynamic redeem. Next, the controller can be designed by using linear theories. In this paper, firstly, we deeply analyze the principle of the dynamic inverse control and the cause of the inverse error. Secondly, we review the principle of the self-adaptive inverse control and methods of eliminating the sensor noise and disturbance. Finally, we present the method which not only has compensation messages but also can be used in the online dynamic inverse error compensation. Our method is applied to the flight control system design of the cruise missile. Simulations show that the designed system is robust and has a satisfactory dynamical performance