Incremental dynamic inversion control for flying-wing UAV based on complementary filtering

Aiming at strong aerodynamic coupling, poor directional stability, and modelling challenges in flying-wing UAVs, this study proposes an incremental nonlinear dynamic inversion (INDI) control method incorporating complementary filtering. First, an attitude controller is designed using angular acceleration feedback to decouple aerodynamic interactions without relying on precise system models. Second, complementary filtering is introduced to estimate angular acceleration, resolving phase lag and avoiding noise amplification inherent in differentiation. Finally, robustness is validated through comparative simulations with PID control under aerodynamic parameter perturbations and angular rate noise. Results demonstrate that the proposed method enhances robustness to parametric uncertainties and suppresses noise effects more effectively than PID, achieving stable attitude tracking. The framework addresses aerospace-specific nonlinear dynamics and stability challenges, providing a model-agnostic control solution for morphologically complex UAVs.