Robust Attitude Control for Flying-Wing UAV Using Modified Incremental Nonlinear Dynamic Inversion

This paper proposes a modified incremental nonlinear dynamic inversion (MINDI) control scheme for attitude tracking control of flying-wing unmanned aerial vehicles (UAV). Based on the incremental dynamic inversion formulation, the angular rate controller is designed to alleviate the nonlinearity and coupling characteristics of the flying-wing configuration. Then, in order to address the impact of factors such as angular acceleration measurement errors and actuator faults on the control performance, a super-twisting-like fixed-time convergence algorithm is introduced to replace the linear control law in the nominal INDI method, ensuring rapid convergence of tracking errors. The simulation results demonstrate that the proposed method effectively mitigates the impact of such errors and faults. Compared to the nominal INDI, the modified method exhibits stronger fault tolerance and robustness in the attitude tracking control of the flying-wing UAV.