Robust trajectory-tracking method for UAV using nonlinear dynamic inversion

This paper discusses the flight control strategy based on nonlinear dynamic inversion. A detailed description of a six-degree-of-freedom nonlinear flight control scheme for unmanned aerial vehicles (UAVs) is proposed for tracking the aircraft trajectory in three-dimensional space. Combining the PI control scheme, a nonlinear dynamic inversion controller is designed to linearize the dynamics of UAVs. Also, simulation results are presented to illustrate the effectiveness of the control strategy.