Asymptotic Tracking for Aircraft via Robust and Adaptive Dynamic Inversion Methods

Abstract

Abstract-Two asymptotic tracking controllers are designed in this paper, which combine model reference adaptive control and dynamic inversion methodologies in conjunction with the robust integral of the signum of the error (RISE) technique for output tracking of an aircraft system in the presence of parametric uncertainty and unknown, nonlinear disturbances, which are not linearly parameterizable (non-LP). The control designs are complicated by the fact that the control input is multiplied by an uncertain, non-square matrix. A robust control design is presented first, in which partial knowledge of the aircraft model along with constant feedforward estimates of the unknown input parameters are used with a robust control term to stabilize the system. Motivated by the desire to reduce the need for high-gain feedback, an adaptive extension is then presented, in which feedforward adaptive estimates of the input uncertainty are used. These results show how asymptotic tracking control can be achieved for a nonlinear system in the presence of a non-square input matrix containing parametric uncertainty and nonlinear, non-LP disturbances. Asymptotic output tracking is proven via Lyapunov stability analysis, and high-fidelity simulation results are provided to verify the efficacy of the proposed controllers.

Tracking Control of Limit Cycle Oscillations in an Aero-Elastic System

“…The unknown disturbance represents unsteady nonlinear aerodynamic effects. A NN is used as a feedforward control term to compensate for the unknown nonlinear disturbance and a RISE feedback term [16][17][18] ensures asymptotic tracking of a desired state trajectory. A RISE-like controller was also recently developed in Ref.…”

A robust adaptive tracking controller for an aircraft with uncertain dynamical terms

“…In [22] and [23], Shin et al developed a tracking controller by fusing robust integral of the signum of the error (RISE) feedback with neural network feedforward terms for a rotorcraft-based UAV and guaranteed semi-global asymptotic tracking. In [24], MacKunis et al combined the robust controller in [25] with a DI technique to obtain asymptotic output tracking for aircraft systems with an uncertain input matrix and subject to additive disturbances. While exponential tracking was obtained main drawback of the proposed controller was that the signum of the time derivative of the output was required (i.e., signs of the acceleration values were needed).…”

Optimal Design of a RISE Feedback Controller for a 3-DOF Robot Manipulator Using Particle Swarm Optimization

“…The RISE method is a high gain feedback tool. Motivated by this issue, in [20,21], a NN-based feed-forward term is combined with the RISE feedback term in order to reduce the gain values of RISE feedback and to yield asymptotic tracking results. Also Shicheng Wang et al in [22], designed a RISE based NN controller for a spacecraft formation within the leader follower architecture.…”