A Study on the Dynamic Inversion with Lyapunov method

This paper introduces the dynamic inversion with the Lyapunov function method. This is for a guidance and control system of a chase UAV with the velocity controller which is designed based on a dynamic inversion approach. The guidance and control system employs the pure pursuit guidance to determine the UAV's orientation, and a two-time scale dynamic inversion technique to control the attitude. All together, they enable the UAV to keep formation flight.