Trajectory tracking control and maneuver regulation control for the CTOL aircraft model
07 Dec 1999-Vol. 2, pp 1958-1963
TL;DR: In this article, the authors study the execution of a maneuver for which the aircraft is intended to follow a path in a vertical plane corresponding to a specified change in altitude, and a controller is developed for this case, and it is compared with a controller that solves the related output tracking problem.
Abstract: We study several flight control problems for a conventional aircraft take off and landing (CTOL) flight control model, a simplified nonlinear model for aircraft longitudinal flight dynamics. In particular, we study the execution of a maneuver for which the aircraft is intended to follow a path in a vertical plane corresponding to a specified change in altitude. First we formulate the problem as a nonlinear output tracking control problem. Next we formulate a related path following or maneuver regulation problem. A controller is developed for this case, and it is compared with a controller that solves the related output tracking problem. This comparison demonstrates the practical value of the maneuver regulation controller. Our approach throughout is to make use of nonlinear control theory, which is complicated by the non-minimum phase characteristics of the CTOL model.
Citations
More filters
TL;DR: It is shown how to design stabilizing control laws for gliding motions using the derived function as a control Lyapunov function and how to compute the corresponding regions of attraction.
81 citations
Cites methods from "Trajectory tracking control and man..."
...We note that this model of pitching moment control is similar to the model presented in (Tomlin et al. 1995, Al-Hiddabi & McClamroch 1999) for a Conventional Takeoff and Landing Aircraft....
[...]
...There is a significant literature addressing the tracking problem for aircraft using feedback linearization based methods, including (Tomlin, Lygeros, Benvenuti & Sastry 1995, Al-Hiddabi & McClamroch 1999)....
[...]
TL;DR: A new linear-matrix-inequality-based fault detection method for control systems is obtained and applied to fault detection for flight control systems.
Abstract: This brief studies the problem of fault detection for a class of uncertain state-feedback tracking control systems with constant reference inputs and bounded disturbances. The considered systems are modeled via multiple modes, namely, fault-free case and faulty cases. Actuator stuck faults, including outage cases, are considered. With the aid of the finite-frequency positive-realness approach, a new linear-matrix-inequality-based fault detection method for control systems is obtained and applied to fault detection for flight control systems. An F-18 aircraft model is included in the simulation to illustrate the effectiveness of the proposed method.
79 citations
Cites background from "Trajectory tracking control and man..."
..., in [23] and [24], aircraft speed and position are regulated along a desired path....
[...]
01 Jan 2006
TL;DR: In this article, the authors use nonlinear systems analysis to study dynamics and design control solutions for vehicles subject to hydrodynamic or aerodynamic forcing, and derive conditions for nonlinear stability of longitudinal steady gliding motions using singular perturbation theory.
Abstract: In this thesis we use nonlinear systems analysis to study dynamics and design control solutions for vehicles subject to hydrodynamic or aerodynamic forcing. Application of energy-based methods for such vehicles is challenging due to the presence of energyconserving lift and side forces. We study how the lift force determines the geometric structure of vehicle dynamics. A Hamiltonian formulation of the integrable phugoidmode equations provides a Lyapunov function candidate, which is used throughout the thesis for deriving equilibrium stability results and designing stabilizing control laws. A strong motivation for our work is the emergence of underwater gliders as an important observation platform for oceanography. Underwater gliders rely on buoyancy regulation and internal mass redistribution for motion control. These vehicles are attractive because they are designed to operate autonomously and continuously for several weeks. The results presented in this thesis contribute toward the development of systematic control design procedures for extending the range of provably stable maneuvers of the underwater glider. As the first major contribution we derive conditions for nonlinear stability of longitudinal steady gliding motions using singular perturbation theory. Stability is proved using a composite Lyapunov function, composed of individual Lyapunov functions that prove stability of rotational and translational subsystem equilibria. We use the composite Lyapunov function to design control laws for stabilizing desired relative equilibria in different actuation configurations for the underwater glider. We propose an approximate trajectory tracking method for an aircraft model. Our method uses exponential stability results of controllable steady gliding motions, derived by interpreting the aircraft dynamics as an interconnected system of rotational and translational subsystems. We prove bounded position error for tracking prescribed, straight-line trajectories, and demonstrate good performance in tracking iv unsteady trajectories in the longitudinal plane. We present all possible relative equilibrium motions for a rigid body moving in a fluid. Motion along a circular helix is a practical relative equilibrium for an underwater glider. We present a study of how internal mass distribution and buoyancy of the underwater glider influence the size of the steady circular helix, and the effect of a vehicle bottom-heaviness parameter on its stability.
67 citations
Cites background or methods from "Trajectory tracking control and man..."
...We use mass and inertia parameter values considered in [136] for the DC-8: m = 85000 kg and J2 = 4×106 kgm(2)....
[...]
...Reduction of control magnitude is also achieved by posing a maneuver regulation problem instead of the trajectory tracking problem in [136]....
[...]
...The particular model considered in this chapter has also been studied in the context of trajectory tracking and maneuver regulation in many references including [36, 62, 136, 137]....
[...]
18 Apr 2005
TL;DR: An algorithm to estimate wind direction by using a small and light Unmanned Air Vehicle (UAV) called KITEPLANE, which had a big main wing which is a kite-like delta shape, showed the effectiveness of the proposed method.
Abstract: In this paper, an algorithm to estimate wind direction by using a small and light Unmanned Air Vehicle(UAV) called KITEPLANE was proposed. KITEPLANE had a big main wing which is a kite-like delta shape and, therefore, it was easy to be disturbed by wind. However, this disadvantage implies that the KITEPLANE has an ability to sense wind and that it is expected to use the KITEPLANE as a sensor for wind estimation. In order to achieve this feature, dynamics of the KITEPLANE under wind disturbance were derived and a numerical estimation method was proposed. Devices equipped on board were also developed and the proposed method was implemented. Results of an experiment showed the effectiveness of the proposed method.
47 citations
Cites methods from "Trajectory tracking control and man..."
...Al-Hiddabi [13] concentrated to longitudinal maneuver and proposed a nonlinear output tracking method....
[...]
20 Aug 2007
TL;DR: In this article, a path-following problem of steering an autonomous airplane along a predefined 3-D path, while performing a coordinated turn maneuver, is addressed, based on the definition of a pathdependent error space to express the dynamic model of the vehicle.
Abstract: This paper addresses the path-following problem of steering an autonomous airplane along a predefined 3-D path, while performing a coordinated turn maneuver. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, and of an output tracking error that guarantees both path-following and coordinated turn compliance. For controller design purposes, the error dynamics are approximated by a polytopic Linear Parameter Varying (LPV) system representation with piecewise affine dependency on the parameters. The synthesisproblem is stated as an H2 minimization problem with pole placement contraints, and solved using Linear Matrix Inequalities (LMIs). The nonlinear controller is implemented within the scope of gainscheduling control theory, using the D-methodology. The performance of the designed controller is assessed in simulation, using the full nonlinear model of a small scale airplane.
24 citations
References
More filters
TL;DR: It is shown that, while straightforward application of the linearization theory to a non-minimum phase system results in a system with a linear input-output response but unstable internal dynamics, designing a feedback control based on a minimum phase approximation to the true system results with desirable properties such as bounded tracking and asymptotic stability.
661 citations
TL;DR: In this article, a new methodology for integrated design of guidance and control for unmanned aerial vehicles (AVs) is proposed, which leads to an efficient procedure for the design of controllers for AVs to accurately track reference trajectories defined in an iner- tia! reference frame.
Abstract: . This paper addresses the problem of in- tegrated design of guidance and control systems for au- tonomous vehicles (AVs). In fact, it introduces a new methodology for integrated design of guidance and control for such vehicles. The methodology proposed leads to an efficient procedure for the design of controllers for AVs to accurately track reference trajectories defined in an iner- tia! reference frame. The paper illustrates the application of this procedure on the design of a tracking controller for the Unmanned Air Vehicle Bluebird. The design phase is summarized, and the performance of the resulting con- troller is assessed in simulation using dynamic models of the vehicle and its sensor suite.
321 citations
14 Dec 1994
TL;DR: The authors propose an alternative point of view based on the following simple remark: if one had a state tracker, the output tracking would reduce to the generation of a good state reference, which is only an open-loop problem, and hence (hopefully) simpler.
Abstract: An important control problem is output tracking. One approach, for slightly nonminimum phase systems is to approximate the system by a minimum phase one. Another approach is to track signals generated by an exosystem. These methods concentrate on properties of the IO system without any attempt to investigate and use structural properties of the IS system. In this paper the authors propose an alternative point of view based on the following simple remark: if one had a state tracker (i.e. a controller able to track any reference state trajectory), the output tracking would reduce to the generation of a good state reference, which is only an open-loop problem, and hence (hopefully) simpler. The idea is simply to split the output tracking problem into two steps. >
168 citations
TL;DR: In this paper, a Lyapunov-based projection operator for stable maneuver regulation for feedback linearizable nonlinear systems is derived using a simplified model of an experimental flight control apparatus.
137 citations
TL;DR: In this article, the authors proposed a procedure for achieving approximate tracking for a nonlinear system whose linearization possesses real right-half plane zeros, which is guaranteed to remove the right half plane zero while the other zero remains in their previous location.
Abstract: An unstable zero-dynamics is a known obstruction to inducing exact asymptotic tracking for an open set of output trajectories with internal stability. This paper proposes a procedure for achieving approximate tracking for a nonlinear system whose linearization possesses real right-half plane zeros. The method is guaranteed to remove the right-half plane zeros while the other zeros remain in their previous location; moreover, it provides information on the class of signals for which good approximate tracking can be obtained. With other methods, the right-half plane zeros are eliminated but the final location of the remaining zeros is not known a priori. The design procedure is illustrated on a trajectory control problem of an aircraft in rapid manoeuvres. Simulations illustrate the computations involved and show that precise lateral and longitudinal manoeuvres can be performed, even in the presence of uncertainties.
112 citations