Integrated Nonlinear System Framework for Air Vehicle Autonomy Design and Validation

doi:10.1109/INDIANCC.2019.8715607

Proceedings Article•DOI•

Integrated Nonlinear System Framework for Air Vehicle Autonomy Design and Validation

Nandan K. Sinha¹, Amit Kumar Khatri¹, D Gobiha¹•Institutions (1)

01 Jan 2019-

TL;DR: An overview of the nonlinear framework involved in the development of the unique platform and its applications to maneuvering and waypoint navigation of two vehicle models are presented in the paper.

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Abstract: Physical systems such as air vehicles are inherently nonlinear and complex. A complete treatment of air vehicle from design, modeling, analysis, and simulation until control design for vehicle autonomy demands, therefore, application of tools from nonlinear dynamics and control theories. Blending dynamical systems theory and nonlinear control techniques provides a unique and physically intuitive methodology for developing control algorithms for various complex tasks. Our recent works on highly nonlinear aircraft models have led to the development of a generic simulation platform for guidance, control, and navigation of six degree-of-freedom (dof) air vehicles in a completely nonlinear framework. An overview of the nonlinear framework involved in the development of the unique platform and its applications to maneuvering and waypoint navigation of two vehicle models are presented in the paper.

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Book•

Applied Nonlinear Control

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Jean-Jacques E. Slotine, Weiping Li

01 Jan 1991

TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).

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Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).

...read moreread less

15,545 citations

"Integrated Nonlinear System Framewo..." refers background in this paper

...be finite time reachable and attractive (based on Lyapunov criteria) [6], a control law can be arrived at to be...
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...It also provides a sharper understanding of the real world, which is nonlinear” [6]....
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Book•

Aircraft Control and Simulation

[...]

Brian L. Stevens, Frank L. Lewis

05 Feb 1992

TL;DR: Equations of Motion Building the Aircraft Model Basic Analytical and Computational Tools Aircraft Dynamics and Classical Design Techniques Modern Design Techniques Robustness and Multivariable Frequency-Domain Techniques Digital Control Appendices Index.

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Abstract: Equations of Motion Building the Aircraft Model Basic Analytical and Computational Tools Aircraft Dynamics and Classical Design Techniques Modern Design Techniques Robustness and Multivariable Frequency-Domain Techniques Digital Control Appendices Index.

...read moreread less

2,837 citations

"Integrated Nonlinear System Framewo..." refers background or methods in this paper

..., depend as well on the available control authority within a flight envelope [1,2]....
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...Classical methods of designing autopilot control systems for keeping vehicle in a desired course in flight using the linear and state-space models developed around specific operating flight conditions are well established [1]....
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...is available in literature [1-3] and, therefore, not presented in this manuscript....
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Journal Article•DOI•

Handbook of Marine Craft Hydrodynamics and Motion Control [Bookshelf]

[...]

Leigh McCue

27 Jan 2016-IEEE Control Systems Magazine

TL;DR: Fossen as discussed by the authors provides a comprehensive manuscript encompassing two separable texts on hydrodynamics and control of marine vehicles, including a detailed treatment of the subject matter, written from a more generalist perspective.

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Abstract: This book offers a comprehensive manuscript encompassing two separable texts on hydrodynamics and control of marine vehicles. In contrast to the aerospace industry, where dynamicists are often control experts as well, in the maritime world (due to the significant effect environmental loads have on the dynamics of the system) the more common pairing is dynamics with hydrodynamics. As such, Fossen is one of few in the maritime industry who could write such a complete treatment of dynamics, hydrodynamics, and control issues related to surface and subsurface marine vehicles. The author provides an excellent treatment of the subject matter, written from a more generalist perspective, at a substantially lower cost. There are excellent texts covering marine hydrodynamics, vessel dynamics, and ship motion control. However, for some time a void has existed in the literature covering the intersection of these related fields, with the exception of specialist texts such as the treatment of high-speed craft control. Contents This book is presented as two volumes. The first volume is devoted to marine craft hydrodynamics and the second volume of the book is devoted to motion control.

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1,018 citations

"Integrated Nonlinear System Framewo..." refers background or methods in this paper

...Case B 2D Lookahead-based Steering Guidance law Design: A lookahead based guidance law generates the desired attitude to follow the desired geometric path [7,8]....
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...The reference values are post processed using reference model which has a low-pass filter structure to smoothen the reference inputs [8]....
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Proceedings Article•DOI•

Principles of Guidance-Based Path Following in 2D and 3D

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Morten Breivik¹, Thor I. Fossen•Institutions (1)

Norwegian University of Science and Technology¹

12 Dec 2005

TL;DR: In this paper, the concept of guidance-based path following is defined and elaborated upon, and its specifies are contrasted towards the already established concept of trajectory tracking, where guidance laws are developed at an ideal, dynamics-independent level to yield generally valid laws uninfluenced by the particularities of any specific dynamics case.

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Abstract: This paper treats the subject of fundamental guidance principles related to motion behaviour in a 2D plane and a 3D space. In this context, the concept of guidance-based path following is defined and elaborated upon. Its specifies are contrasted towards the already established concept of trajectory tracking. Specifically, guidance laws are developed at an ideal, dynamics-independent level to yield generally valid laws uninfluenced by the particularities of any specific dynamics case. These laws can subsequently be tailored to actual target systems like e.g. watercraft or spacecraft, for instance in a cascaded setting. The approach renders all regular paths feasible. Possible applications and extensions to the guidance-based path following scheme are also briefly suggested.

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220 citations

"Integrated Nonlinear System Framewo..." refers background in this paper

...Case B 2D Lookahead-based Steering Guidance law Design: A lookahead based guidance law generates the desired attitude to follow the desired geometric path [7,8]....
[...]

Journal Article•DOI•

Aircraft Maneuver Design Using Bifurcation Analysis and Sliding Mode Control Techniques

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Amit Kumar Khatri¹, Jatinder Singh¹, Nandan K. Sinha²•Institutions (2)

Council of Scientific and Industrial Research¹, Indian Institute of Technology Madras²

28 Aug 2012-Journal of Guidance Control and Dynamics

TL;DR: In this article, bifurcation analysis-based methodology is used in conjunction with a sliding-mode-based control algorithm to construct and simulate maneuvers for a nonlinear, 6 degree-of-freedom, F-18 high-alpha research vehicle aircraft model.

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Abstract: In this paper, bifurcation analysis-based methodology is used in conjunction with a sliding-mode-based control algorithm to construct and simulate maneuvers for a nonlinear, 6 degree-of-freedom, F-18 high-alpha research vehicle aircraft model. Three different types of maneuvers, namely, a minimum-radius level turn, velocity vector roll, and spin recovery to a level flight condition, are attempted to demonstrate the usefulness of the proposed approach. The procedure involves constructing the desired maneuvers using constrained bifurcation analysis-based methodology. The results obtained from bifurcation analysis provide the reference inputs for the sliding mode controller to switch the aircraft between desired flight conditions. Robustness of the sliding mode controller is also examined by introducing uncertainties in aerodynamic parameters. Closed-loop simulation results are later presented to show the effectiveness of the proposed technique.

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32 citations

"Integrated Nonlinear System Framewo..." refers background or methods in this paper

...Figure 5: Simulink based platform for carefree maneuvering [5]....
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...However, conventional NDI based controllers lack in ensuring robustness and in tackling control saturation problems [5], therefore, an SMC based approach is adopted here....
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...Figure 3: Flight envelope for carefree maneuvering (limited by maximum thrust and control deflection limits [5]....
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...Availability of initial and desired states from bifurcation results for recovery control design is a unique feature of the methodology proposed [5]....
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Integrated Nonlinear System Framework for Air Vehicle Autonomy Design and Validation

References

"Integrated Nonlinear System Framewo..." refers background in this paper

"Integrated Nonlinear System Framewo..." refers background or methods in this paper

"Integrated Nonlinear System Framewo..." refers background or methods in this paper

"Integrated Nonlinear System Framewo..." refers background in this paper

"Integrated Nonlinear System Framewo..." refers background or methods in this paper

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