Generalized Dynamic Inversion Control System Design: Theory and Applications to Autonomous Vehicle Control

PROF. ABDULRAHMAN HASAN BAJODAH

Aerospace Engineering Department
King Abdulaziz University
Jeddah, Saudi Arabia

Biography
Professor Abdulrahman H. Bajodah is a faculty member of the Aerospace Engineering Department at King Abdulaziz University in Jeddah, Kingdom of Saudi Arabia. He received his B.Sc. degree in Aeronautical Engineering from King Abdulaziz University in 1992, and his Ph.D. degree in Aerospace Engineering from Georgia Institute of Technology in 2003. He is a former member of the Saudi Arabian Consultative Council (Majlis Al-Shoura), president of the Saudi Space and Aviation Sciences Association (SSASA), member of the aerospace and adaptive control technical committees in the International Federation of Automatic Control (IFAC), a senior member of the American Institute of Aeronautics and Astronautics (AIAA), and a visiting professor in several international engineering schools. His research interests include analytical mechanics, nonlinear and optimal control, and adaptive control systems, with applications to robotics, Aircraft, and spacecraft control.

Abstract

Nonlinear dynamic inversion (NDI) is a square inversion control design methodology that is widely used in aerospace and other industrial applications. However, NDI control suffers from several limitations and shortcomings in its implementations to control complex and highly nonlinear aerospace systems, namely the square plant dimensionality restriction, singular configurations of square inversion, elimination of useful nonlinearities, and high control magnitudes. Generalized dynamic inversion (GDI) is a non-square control design methodology that utilizes generalized (non-square) inversion and the associated null space parametrization of non-square matrices. Like its preceding NDI control methodology, GDI has been evolving within aerospace control applications. However, GDI control avoids the main limitations and shortcomings of NDI in its implementations to control complex and highly nonlinear aerospace systems. By avoiding these disadvantages, GDI control has been capable of solving challenging aerospace control problems. The purpose of the talk is to introduce the basic elements of GDI control and its applications in controlling autonomous vehicles.