A recently suggested novel anti-windup (AW) compensation scheme is implemented and tested on a 1/16 scaled BAe Hawk jet trainer, a pendulum-supported rig (PSR) model, in a 1 degree of freedom (DOF) configuration. The Hawk is modelled as a nonlinear affine system subject to input constraints and has a primary control system consisting of an inner-loop nonlinear dynamic inversion (NDI) controller and an outer-loop linear PID controller. To address the imposed input constraints a recently introduced nonlinear L2 sub-optimal AW compensation method is applied and compared with a nonlinear version of the internal model control AW scheme. The wind tunnel experimental results demonstrate the promise of the approach and indicate the superiority of the optimal AW scheme.
|Translated title of the contribution||Dynamic wind tunnel rig implementation of nonlinear dynamic inversion based anti-windup scheme|
|Title of host publication||AIAA Guidance, Navigation, and Control Conference, Hawaii|
|Number of pages||14|
|Publication status||Published - 2008|
Bibliographical noteConference Organiser: American Institute of Aeronautics and Astronautics, AIAA
Other identifier: AIAA-2008-6791