The robust nonlinear control task includes development of compact onboard model and dynamic control allocation synthesis methods. Research article a robust controller for an uav flight. Sep 17, 20 the international journal of robust and nonlinear control promotes development of analysis and design techniques for uncertain linear and nonlinear systems. Design of flight control system for a novel tiltrotor uav. The technique is exercised by designing a longitudinal flight control system for a model of a flexible aircraft. Robust control methods are designed to function properly provided that uncertain parameters or disturbances are found within some typically compact set. Robust multivariable flight control provides the background, theory and examples for full envelope manual flight control system design. This paper presents a novel application of backstepping controller for autonomous landing of a rotary wing uav ruav. A robust controller was designed for a small uav 1. Evolutionary design of robust flight control for a hypersonic. In this section, a yaw controller for flexible aircraft is designed. Pdf robust flight control systems a parameter space design. Development of robust flight control design for unmanned aerial helicopter may zin tun, zaw min naing, hla myo tun. Fighter aircraft dynamics generally have highly coupled uncertain and nonlinear dynamics.
Development of robust flight control laws for a highly. Developing, flighttesting and integrating flight control systems is costly and timeconsuming. The results of that design challenge, presented at the garteur specialists workshop in toulouse, france in april 1997, are reported here. The current research is aimed at presenting the design framework in a detailed, stepbystep fashion for use by those who may initially be unfamiliar with the robust flight control design methodology.
A high gain controller with forced sliding motions is used to secure good performance over a wide range of the aircraft model parameters. It gives a versatile framework for the application of advanced multivariable control theory to aircraft control problems. Robust adaptive flight control systems in the presence of. This book is very rich in both control theory and examples.
Pdf robust flight control design to minimize aircraft. Mechanical hons department of mechanical engineering the univeristy of queensland brisbane, australia a thesis submitted for the degree of doctor of philosophy june 2002. Robust control toolbox provides functions and blocks for analyzing and tuning control systems for performance and robustness in the presence of plant uncertainty. The design task can be divided into four phases to achieve desired performance and guaranteed robust stability. An evolutionary design approach is used to construct an autopilot for a hypersonic airbreathing aircraft. Pdf evolutionary design of robust flight control for a. The restricted use of the controller would be imposed because the system did not consider the nonlinearity of its dynamics. Robust flight control design to minimize aircraft lossof. Adaptive control technology is a promising candidate to deliver high performance in aircraft systems in the presence of uncertainties. To assess robustness, the simulations include abrupt variations in the characteristics of the aircraft control system and vehicle dynamics. Flight control for this class of vehicle is an extremely challenging problem due to the combination of nonlinear dynamics, parametric uncertainty and complex constraints. Robust scheduled control of longitudinal flight with handling. A flybywire fbw system replaces manual flight control of an aircraft with an electronic interface. Evolutionary design of robust flight control for a hypersonic aircraft by kevin j.
It provides a research method for the transition control and the fixedwing flight control. Robust control n design for flight i control william h. Robust flight control design with handling qualities. The goal of the design effort is the synthesis of a robust control system to minimize aircraft lossof control by preserving fundamental. Finally, the performance of the design and implementation of robust flight control the primary focus of this work is to design and implement a robust automatic flight control system for a smallscale unmanned helicopter. In october 1994, 22 organisations throughout europe accepted a challenge to solve a specific robust flight control design problem. Robust and adaptive control with aerospace applications. Gomez 1 dynamic systems research group, universidad polit. Design of launch vehicle flight control systems using. Mathematical problems in engineering, aerospace and sciences, icpaa 2008, 20080625 20080627. Qftbased robustfaulttolerant flight control design for a remote pilotless vehicle published in. He also serves as vice president of harbin university of engineering, china.
It uses a quasinewton optimization to optimize the value of ari gain subject to minimize the sensitivity matrix of the closed loop system. You can create uncertain models by combining nominal dynamics with uncertain elements, such as uncertain parameters or unmodeled dynamics. Probabilistic control of nonlinear uncertain dynamic systems pdf, in probabilistic and randomized methods for design under uncertainty, g. Flight control movements are converted to electronic signals transmitted by wires flybywire term, and flight control computers determine how to move the actuators. Consequently, simultaneous control over the flight path, aerodynamic attitude and propulsion is required. Robust and reconfigurable flight control by neural networks. In particular, the transition phase is a multistate point controller design process. A frequencydomainbased synthesis technique using pseudoslidingmode control has been previously introduced and exercised in the literature. The complete vehicle model is included as an appendix. Currently, there is a lack of robustness guarantees against time delay with the difficulty arising from the fact that the underlying problem is nonlinear and time varying.
Robust pid controller design for an uav flight control system. Adaptive robust control arc for an altitude control of a quadrotor type uav carrying an unknown payloads. Comprehensive and up to date coverage of robust control theory and its application presented in a wellplanned and logical way written by a respected leading author, with extensive experience in robust control accompanying website provides solutions manual and other supplementary material. Robust and adaptive control is a well written and selfcontained book, driven by aerospace applications. Hess, senior member, ieee abstract a technique for obtaining a fullenvelope decoupled linear flight control design is presented. Research article a robust controller for an uav flight control system j. The two controllers that conform the outer loop are designed using the loop shaping. In control theory, robust control is an approach to controller design that explicitly deals with uncertainty. A multiobjective evolutionary algorithm is used to find the controller gains that minimize a weighted combination of the infinitenorm of the sensitivity function for disturbance attenuation requirements. Flight control of a rotary wing uav using backstepping. Qftbased robust faulttolerant flight control design for a remote pilotless vehicle published in. Design for robust aircraft flight control article pdf available in journal of aircraft 552.
The results show that the zero and gain settings are sufficient to ensure robust performance and stability with respect to various operating points. The work deals with the design of the force control in a hydraulic workbench for primary flight actuators, to be used for hardwareintheloop simulations of a modern flybywire flight control system. A pseudosliding mode control synthesis procedure discussed previously in the literature is applied to the design of a control system for a nonlinear model of the nasa langley generic transport model. A design challenge lecture notes in control and information sciences magni, jeanfrancois, bennani, samir, terlouw, jan on. Design for robust aircraft flight control journal of. This paper focuses on the design of a robust flight control system for a miniuav using coupled stability derivatives. Design for robust aircraft flight control journal of aircraft. Flight control for this class of vehicle is an extremely challenging problem due to the combination of nonlinear dynamics, parametric uncertainty and com plex constraints. Multivariable control design techniques offer a solution to this problem. Holzapfel, longitudinal robust controller for excellent handling qualities design of a general aviation aircraft using qft, in aiaa guidance, navigation, and. Volume 47, issue 12, december 2011, pages 27432748. Ieee transactions on control systems technology volume. Multiobjective design of robust flight control systems. Robust flight control design for a turn coordination.
Pdf robust pid controller design for an uav flight. The reconfigurable control design task includes development of an. Robust flight control design to minimize aircraft lossofcontrol incidents. This is an example for the application of a novel parameter space design technique and generalized ddecomposition, see ackermann and kaesbauer 1980. An overview of the application is presented to design a robust flight control for turn coordination system particularly when uncertainties in the stability and control derivatives are exist. The controller structure is that of a feedforward sigmoidal neural network that is both adaptive and. Robust methods aim to achieve robust performance andor stability in the presence. Application of robust control to uav fcsd page iii abstract the robust loopshaping control methodology is applied in the flight control system design of the cranfield a3 observer unmanned, unstable, catapult launched air vehicle. We attempt to design flight control system for a small fixedwing uav whose wingspan is supposed less than 1m. His research interests include nonlinear systems, robust control and flight control. Design of a robust flight control system for a miniuav. A passificationbased robust autopilot for attitude control of flexible aircraft under parametric uncertainty is designed. You can analyze the impact of plant model uncertainty on control system performance, and.
In this work, an innerouter loop control architecture applied to the longitudinal and lateral flight motions is implemented using the loop shaping design procedure 9, 10 to synthesize. Robust nonlinear control of a hypersonic aircraft journal. May 23, 2012 robust flight control for hypersonic flight vehicle using nonlinear disturbance observer active robust control of uncertainty and flexibility suppression for airbreathing hypersonic vehicles aerospace science and technology, vol. This work presents an application of linear matrix inequalities lmi for the robust control of an f16 aircraft through an algorithm ensuring the damping factor to the closed loop system. Stengel, fellow, ieee abstractthis paper considers probabilistic robust control of nonlinear uncertain systems. The robust loopshaping control methodology is applied in the flight control. Evolutionary design of robust flight control for a.
Qftbased robustfaulttolerant flight control design for a. We assume that the uncertainty results from the flight mission in which the uav carries unknown payloads. Robust flight control design for a turn coordination system. Passificationbased robust flight control design sciencedirect. The stability analysis task assesses robustness of a baseline flight control system. The objective of this paper is to design the basic level control system such that the pole region requirements of fig. Pdf robust force control in a hydraulic workbench for. Sep 21, 2017 the current research is aimed at presenting the design framework in a detailed, stepbystep fashion for use by those who may initially be unfamiliar with the robust flight control design methodology.
Pdf robust pid controller design for an uav flight control. Application of robust control in unmanned vehicle flight. In this paper a polynomial based analysis method for application to robust stability of linear systems subject to uncertain parameters and applicability to the flight control law clearance problem. Qftbased robustfaulttolerant flight control design for. In particular, robust control method by zames 4, 5 has been used in flight control systems for both lateral and longitudinal dynamics of aircraft 68. The technique used is the pole placement, which aims to. Holzapfel, physically integrated reference model and its aids in validation of requirements to flight control systems, in aiaa gnc and colocated conferences, 20. A pseudosliding mode control synthesis procedure discussed previously in the literature is applied to the design of a control system. Minisci, edmondo and avanzini, giulio and dangelo, s. Robust adaptive flight control systems in the presence of time delay by megumi matsutani b. Adaptive robust control arc for an altitude control of a. To design the robust controller in the inner loop, control methodology is used.
This application, which holds good for the full flight envelope control, is an extension of a backstepping algorithm for general rigid body velocity control. The aim of this work is to demonstrate the capabilities of evolutionary methods in the design of robust controllers for unstable fighter aircraft in the framework of h1 control theory. Robust flight control for hypersonic flight vehicle using nonlinear disturbance observer active robust control of uncertainty and flexibility suppression for airbreathing hypersonic vehicles aerospace science and technology, vol. Detailed linear models for the full operational flight envelope of the air vehicle are developed. Development of robust flight control laws for a highly flexible aircraft in the frequency domain alexander k othe and robert luckner y technische universit at berlin, marchstrasse 12, 10587 berlin, germany pedro j. The goal of the design effort is the synthesis of a robust control system to minimize aircraft lossofcontrol by preserving fundamental. Robust flight control a design challenge jeanfrancois magni. A robust controller for an uav flight control system. Robust scheduled control of longitudinal flight with.
Robust flight control design to minimize aircraft lossofcontrol. Pdf design for robust aircraft flight control researchgate. The objective of this paper is the implementation and validation of a robust controller for an uav to track all types of manoeuvres in the presence of noisy environment. In this paper, a similar procedure used for the ares i flight control system design1 is used to illustrate the capabilities of an ascent vehicle stability analysis tool. A design challenge lecture notes in control and information sciences.
Robust methods aim to achieve robust performance andor stability in the presence of bounded modelling errors. Manual flight control system design for fighter aircraft is one of the most demanding problems in automatic control. The proposed control method plays a significant role in the single state point controller design. Robust flight control design with handling qualities constraints using scheduled linear dynamic inversion and loopshaping wichai siwakosit, s. The analysis results are used to develop onboard model and control allocation requirements for the other two tasks. Pdf this paper deals with the longitudinal dynamics stabilization. Robust nonlinear flight control of a highperformance aircraft pdf, ieee trans.