Flight Control Design Using Hierarchical Dynamic Inversion and Quasi-steady States

Design of kernel control laws is an important step in autonomous ∞ight control design for UAVs, because the function of kernel control laws is to guarantee asymptotical innerloop stability of aircraft motion relative to the surrounding air. The design can be further complicated by nonlinear ∞ight dynamics. In this paper, we propose a hierarchical dynamic inversion (HDI) method for design of the kernel control law for a flxed-wing UAV based on quasi-steady states. HDI is more generally applicable to some non-a‐ne nonlinear systems. The designed kernel control law is incorporated into an autonomous ∞ight controller and verifled in simulation based on the high-fldelity 6-DOF nonlinear model of a UAV. The simulation results demonstrate that the UAV with the designed kernel control law successfully execute super maneuver and is robust against actuator gain variation.