The flight control design for the SUAVs based on hierarchy-structured incremental dynamic inversion

In this paper, the Small Unmanned Aerial Vehicles (SUAVs)' navigation, attitude and velocity control are integrated into a simple, unified Hierarchy-Structured Incremental Dynamic Inversion (HSIDI) control system. Firstly, based on singular perturbation theory, all the variables of the SUAVs' dynamics are divided into four groups according to time-scale, and four Dynamic Inversion (DI) subsystems are designed. Secondly, to increase the robust performance of the system, the method of the Incremental Dynamic Inversion (IDI) is applied. The IDI attitude control subsystem and the IDI velocity control subsystem are designed. This approach reduces the controller's sensitivity to the model mismatch and increases the robustness of the control system. The SUAVs' landing simulation program designed in this paper verifies the effectiveness of the method.