Design, Implementation and Flight-Tests of Incremental Nonlinear Flight Control Methods

Ekeren, Wim van; Looye, Gertjan; Kuchar, Richard; Chu, Qi; Kampen, van M Maarten

doi:10.2514/6.2018-0384

Cited by 26 publications

(30 citation statements)

References 18 publications

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“…It has, however, been proven to work in previous flight tests. [1][2][3] Even though the core of both IBS and INDI based control laws is a partial model inversion, they differ significantly in theoretical basis and capabilities. INDI is mainly suited for control of variables with a relative degree of one with respect to the input.…”

Section: Fig 1 Ph-lab Cessna Citation IImentioning

confidence: 99%

“…[3] IBS has yet only been flight tested by Van Ekeren on the FASER UAV. [2] Recently Delft University of Technology has acquired SR-207RFR angular accelerometers, aiming to implement them on the PH-LAB Cessna Citation II. A model was made by Jatiningrum using frequency-Response Measurements of the angular accelerometers on a test bench.…”

Section: Previous Flight Testsmentioning

confidence: 99%

“…Firstly, the Control Lyapunov Function (CLF), on which the control law is based, can be extended to include additional control terms. The simplest CLF ,with only a proportional control term, which has been used, for example, by van Ekeren in his implementation on the Phasor UAV [2], does not suffice for the larger Cessna Citation II. For this aircraft, additional control needs to be integrated in the IBS controller.…”

Section: Objectives and Designmentioning

confidence: 99%

“…The simplest CLF, which has been used by e.g. van Ekeren [2], is the square of the tracking error, which results in a BKS control law with added proportional control. In this research a more extensive Lyapuov function has been chosen, which includes an integeral control term as well.…”

Section: Backsteppingmentioning

confidence: 99%

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Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Keijzer

Looye

Chu

et al. 2019

AIAA Scitech 2019 Forum

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This paper discusses the design, implementation and flight testing of an incremental Backstepping (IBS) based manual flight control law with angular accelerometer (AA) feedback. The main advantages of incremental control laws is that they only require a partial model of the system and are of low complexity. Incremental control laws for aircraft rotational motion, however, need angular acceleration measurements to compute the control increments. Previously, estimates based on angular rate measurements were used for this. The newly implemented AA feedback is expected to improve the performance by decreasing the sensor delay. The manual control laws command roll rate/angle, side slip angle and angle of attack and have been implemented on a Cessna Citation II aircraft, which is equipped with an experimental fly-by-wire system. The IBS based control law has an integrated integral control term and uses Pseudo Control Hedging to handle actuator saturations. A load factor outerloop has been added to improve the manual flyability. The IBS based control law has highly satisfactory performance in flight. Test manoeuvres included standard roll and load factor commands and asymmetric thrust handling. Fault tolerance has been compared in a nonlinear simulation for the controllers with and without AA feedback in simulation. In general, the angular accelerometer feedback improved the tolerance to mismatch substantially. Nomenclature A x , A y , A z Linear accelerations along body x,y, and z axis, g C D,Y, L Dimensionless Force coefficients along stability x,y, and z axis C l,m,n Dimensionless Moment coefficients around body x,y, and z axis F A , F T Aerodynamic and Propulsive Force vectors, N G Control dependent part of the model I Inertia matrix, kgm 2 K Gain M A ,M T Aerodynamic and Propulsive Moment vectors, Nm M Mach number S Wing surface area, m 2 T AB Rotation Matrix from reference frame B to A V Velocity vector, m/s V TAS , V CAS True air speed and calibrated air speed, m/s V Lyapunov function W Weight, N X, Y, Z Position, m b Wing span, m 2 c Mean aerodynamic chord, m f Control independent part of the model f x , f y , f z Specific forces along body x,y, and z axis, g g Gravitational acceleration, m/s 2

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Section: Fig 1 Ph-lab Cessna Citation IImentioning

confidence: 99%

Section: Previous Flight Testsmentioning

confidence: 99%

Section: Objectives and Designmentioning

confidence: 99%

Section: Backsteppingmentioning

confidence: 99%

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Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Keijzer

Looye

Chu

et al. 2019

AIAA Scitech 2019 Forum

Self Cite

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“…[11][12][13][14]. Secondly, the modeling errors due to external disturbances and mismatched uncertainties in the dynamics can be effectively cancelled out by the measured or predicted accelerations which are used in the control design [15][16][17]. Finally, BSC and SMC designs with the incremental dynamics provides the integral control function, which can further reduce the steady-state errors and additionally improve the robustness to external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

Cho

Jung

et al. 2021

International Journal of Aerospace Engineering

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This paper investigates the adaptive incremental backstepping sliding mode control for the rotorcraft trajectory-tracking control problem to enhance the robustness to the matched uncertainty in the model. First, the incremental dynamics is used for the control design to exclude the adverse effect of the mismatched model uncertainties on the trajectory-tracking performance. Secondly, the sliding-mode control strategy is adopted in the second design stage of the backstepping controller, and the effect of switching gains on the controller robustness is thoroughly studied using the rotorcraft model with different levels of the matched uncertainties. To clarify the robustness enhancement using the adaptive selection of switching gains, this paper chooses three different control structures consisting of the traditional backstepping control and two backstepping sliding mode controls with the fixed or adaptively adjusted switching gains. These control designs are applied to the trajectory-tracking control for the helical-turn maneuver of the Bo-105 helicopter to compare their relative robustness to the matched uncertainties. The results prove that adaptive incremental backstepping sliding mode control shows much higher robustness than other two designs, and the controller even with the fixed switching gains can be used to improve the robustness of the pure backstepping control design. Therefore, the present adaptive incremental backstepping sliding mode control is effectively applicable with the rotorcraft model which typically contains many different sources of both matched and mismatched uncertainties.

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Efficient Gain Parameter Selection Approach for Sliding Mode Control with Application to Rotorcraft Trajectory Tracking Control Design

Choi

Woo

et al. 2022

Lecture Notes in Electrical Engineering

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Design, Implementation and Flight-Tests of Incremental Nonlinear Flight Control Methods

Cited by 26 publications

References 18 publications

Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

Efficient Gain Parameter Selection Approach for Sliding Mode Control with Application to Rotorcraft Trajectory Tracking Control Design

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