Dynamic inversion control with guaranteed transient and steady state performances for UAV systems

A dynamic inversion control scheme with guaranteed transient and steady state performances is presented in this paper for nonlinear UAV systems. Since system´s transient performances cannot be adjusted directly through changing traditional controller design parameters, we propose a new inversion control scheme incorporated with a prescribed performance bounds which satisfies the requirement of the transient tracking error. In order to eliminate the steady static errors on the premise of preserving the transient performances, a modified PPB function is introduced for the new control scheme. Simulation studies verify the effectiveness of the proposed approach.