Adaptive Dynamic Inversion for Nonaffine-in-Control Uncertain Systems via Time-Scale Separation. Part II

This paper presents an adaptive dynamic inversion method for uncertain nonaffine-in-control dynamical systems. Online approximation of the adaptive dynamic inversion controller is performed using time-scale separation. The resulting control signal is sought as a solution of a “fast” dynamical equation, which inverts a series-parallel model, whose state is shown to track the state of the original nonaffine-in-control system. The design methodology is constructive, and numerically verifiable sufficient conditions on the system parameters are given. A simulation example, motivated by aerospace applications, illustrates the theoretical results.