Henkenjohann, Mark (Fraunhofer Institute for Mechatronic Systems Design IEM), Nolte, Udo (Fraunhofer Institute for Mechatronic Systems Design IEM), Henke, Christian (Fraunhofer Institute for Mechatronic Systems Design IEM), Traechtler, Ansgar (University of Paderborn)

Novel Cascaded Incremental Nonlinear Dynamic Inversion Controller Approach for a Tiltrotor VTOL

Scheduled for presentation during the Regular Session "Control Architectures I" (FrA4), Friday, June 9, 2023, 11:50−12:10, Room 465

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on October 30, 2025

Abstract

This paper presents a novel cascaded incremental nonlinear dynamic inversion (INDI) flight controller approach for a tiltrotor VTOL. The main focus is the adaption of INDI to a specific tiltrotor VTOL configuration aiming for optimal exploitation of the actuator capabilities combined with the advantages of a cascaded INDI. For this purpose the tilt angle of the overall thrust vector with respect to the aircraft is introduced as important connection between two cascaded INDIs: For the outer INDI linearizing translational dynamics this serves as virtual control variable. For the inner INDI linearizing rotational dynamics this variable is a pseudo control input. Thus, the tilt mechanisms of the aircraft can be utilized creating rotational and translational dynamics in a cascaded INDI approach linearizing translational and rotational dynamics separately. The approach is evaluated in simulation studies focusing on functionality, linearization and decoupling.