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CEAS EuroGNC 2022

Local Stability Analysis for Sensor-based Inexact Feedback Linearization
Torbjørn Cunis Lecturer, University of Stuttgart, Institute of Flight Mechanics and Control, 70569 Stuttgart, Germany.
Abstract:
Sensor-based feedback laws such as incremental nonlinear dynamic inversion (INDI) applied to flight control tasks have been successfully evaluated in experiments. When deriving sensor-based feedback laws by INDI, it is assumed that a state-dependent error term introduced by Taylor approximation of the exact feedback linearization is neglectable. In reality, this assumption does not hold over the full state-space and closed-loop stability is a local property. When written in the co-space of internal and external dynamics obtained by feedback linearization, a local characterization for the state-dependent error term by a finite-horizon output gain is proposed. Thus, an inner estimate of the closed-loop region of attraction is derived by application of the small-gain theorem to the interconnection of internal and external dynamics as well as the over-approximated error term.
Keywords: Incremental nonlinear dynamic inversion; Region of attraction; Input-to-state stability; Small-gain theorem; Finite-horizon output gain
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Torbjørn Cunis: Local Stability Analysis for Sensor-based Inexact Feedback Linearization. Proceedings of the 2022 CEAS EuroGNC conference. Berlin, Germany. May 2022. CEAS-GNC-2022-052.
BibTeX entry:

@Incollection{CEAS-GNC-2022-052,
    authors = {Cunis, Torbjørn},
    title = {Local Stability Analysis for Sensor-based Inexact Feedback Linearization},
    booktitle = {Proceedings of the 2022 {CEAS EuroGNC} conference},
    address = {Berlin, Germany},
    month = may,
    year = {2022},
    note = {CEAS-GNC-2022-052}
}