Design of Pseudo-Command Restricted Controller for Tailless Unmanned Aerial Vehicles Based on Attainable Moment Set

Abstract

This work investigates the pseudo-command restricted problem for tailless unmanned aerial vehicles with snake-shaped maneuver flight missions. The main challenge of designing such a pseudo-command restricted controller lies in the fact that the necessity of control allocation means it will be difficult to provide a precise envelope of pseudo-command to the flight controller; designing a compensation system to deal with insufficient capabilities beyond this envelope is another challenge. The envelope of pseudo-command can be expressed by attainable moment sets, which leave some open problems, such as how to obtain the attainable moment sets online and how to reduce the computational complexity of the algorithm, as well as how to ensure independent control allocation and the convexity of attainable moments sets. In this article, an innovative algorithm is proposed for the calculation of attainable moment sets, which can be implemented by fitting wind tunnel data into a function to solve the problems presented above. Furthermore, the algorithm is independent of control allocation and can be obtained online. Moreover, based on the above attainable moment sets algorithm, a flight performance assurance system is designed, which not only guarantees that the command is constrained within the envelope so that its behavior is more predictable, but also supports adaptive compensation for the pseudo-command restricted controller. Finally, the effectiveness of the AMS algorithm and the advantages of the pseudo-command restricted control system are validated through two sets of independent simulations.