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Modified State Observer Based Adaptive Control Law For General Aviation And Micro Aerial Vehicles
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Book Synopsis Modified State Observer Based Adaptive Control Law for General Aviation and Micro Aerial Vehicles by : Venkatasubramani Subba Reddiar Pappu
Download or read book Modified State Observer Based Adaptive Control Law for General Aviation and Micro Aerial Vehicles written by Venkatasubramani Subba Reddiar Pappu and published by . This book was released on 2014 with total page 74 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this research is to assess the capability of Modified State Observer (MSO) based adaptations for use in controlling the longitudinal flight dynamics of a General Aviation (GA) type airplane and a Micro Aerial Vehicle (MAV). For the GA type aircraft, the report details the issues encountered while flight testing a neural network based Model Reference Adaptive Controller (MRAC), on a General Aviation fly-by-wire test bed. The flight test results of the MRAC presented in this report show PLA surging issues due to adaptation during the commanded flight path angle and airspeed. To overcome this problem, MSO based adaptation methodology is adopted to control the longitudinal dynamics of a typical general aviation aircraft. The advantage of MSO is that it adapts to estimation error, not modeling or tracking error. A controlled flight simulation is carried out including the turbulence effects observed during flight. The simulation results show the controller is able to track flight path angle and airspeed commands in the presence of turbulence. The random PLA surge seen during the simulation and flight test of the baseline MRAC controller is not observed in the simulation results of MSO adaptation controller. For the MAV, the simulation is carried out using the aerodynamic derivatives of the Black Kite 300 mm wing span MAV developed by CSIR-NAL Bangalore. The controller is tested in simulation for its ability to adapt to modeling errors for the highly responsive MAV. Simulation results are presented that show the MSO based adaptive controller's ability to respond to altitude and airspeed commands with elevator and engine failures in the presence of parameter uncertainties. The MSO adaptation, along with the nonlinear dynamic inverse controller developed using the mathematical model of the MAV, enables the pilot to control the vehicle with a lower workload.
Book Synopsis Observer-based Adaptive Control by :
Download or read book Observer-based Adaptive Control written by and published by . This book was released on 2002 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems by : Scott R. Wells
Download or read book Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems written by Scott R. Wells and published by . This book was released on 2002 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt: Observer-based sliding mode control is investigated for application to aircraft reconfigurable flight control. An overview of reconfigurable flight control is given, including a review of the current state-of-the-art within the subdisciplines of fault detection parameter identification, adaptive control schemes, and dynamic control allocation. Of the adaptive control methods reviewed, sliding mode control (SMC) appears promising due its property of invariance to matched uncertainty. An overview of SMC is given and its properties are demonstrated. Sliding mode methods, however, are difficult to implement because unmodeled parasitic dynamics cause immediate and severe instability. This presents a challenge for all practical applications with limited bandwidth actuators. One method to deal with parasitic dynamics is the use of an asymptotic observer. Observer-based SMC is investigated, and a method for selecting observer gains is offered. An additional method for shaping the feedback loop using a filter is also developed. It is shown that this SMC prefilter is equivalent to a form of model reference hedging. A complete design procedure is given which takes advantage of the sliding mode boundary layer to recast the SMC as a linear control law. Frequency domain loop shaping is then used to design the sliding manifold. Finally, three aircraft applications are demonstrated. An F-18/HARV is used to demonstrate SISO and MIMO designs. The third application is a linear six degree-of-freedom advanced tailless fighter model. The observer-based SMC is seen to provide excellent tracking with superior robustness to parameter changes and actuator failures.
Book Synopsis Applications of Adaptive Control by : Kumpati S. Narendra
Download or read book Applications of Adaptive Control written by Kumpati S. Narendra and published by . This book was released on 1980 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Design of Control Laws and State Observers for Fixed-Wing UAVs by : Arturo Tadeo Espinoza-Fraire
Download or read book Design of Control Laws and State Observers for Fixed-Wing UAVs written by Arturo Tadeo Espinoza-Fraire and published by Elsevier. This book was released on 2022-09-29 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches provides readers with modeling techniques, simulations, and results from real-time experiments using linear and nonlinear controllers and state observers. The book starts with an overview of the history of UAVs and the equations of motion applied to them. Following chapters analyze linear and nonlinear controllers, state observers, and the book concludes with a chapter discussing testbed development and experimental results, equipping readers with the knowledge they need to conduct their own stable UAV flights whether in simulation or real-time. Presents aerodynamic models for fixed-wing UAVs that can be used to design control laws and state observers Applies linear and nonlinear control theories and state observers to fixed-wing UAVs Provides real-time flight and simulation test results of fixed-wing UAVs with linear and nonlinear controllers
Book Synopsis Autonomous Control of Unmanned Aerial Vehicles by : Victor Becerra
Download or read book Autonomous Control of Unmanned Aerial Vehicles written by Victor Becerra and published by MDPI. This book was released on 2019-06-24 with total page 476 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are being increasingly used in different applications in both military and civilian domains. These applications include surveillance, reconnaissance, remote sensing, target acquisition, border patrol, infrastructure monitoring, aerial imaging, industrial inspection, and emergency medical aid. Vehicles that can be considered autonomous must be able to make decisions and react to events without direct intervention by humans. Although some UAVs are able to perform increasingly complex autonomous manoeuvres, most UAVs are not fully autonomous; instead, they are mostly operated remotely by humans. To make UAVs fully autonomous, many technological and algorithmic developments are still required. For instance, UAVs will need to improve their sensing of obstacles and subsequent avoidance. This becomes particularly important as autonomous UAVs start to operate in civilian airspaces that are occupied by other aircraft. The aim of this volume is to bring together the work of leading researchers and practitioners in the field of unmanned aerial vehicles with a common interest in their autonomy. The contributions that are part of this volume present key challenges associated with the autonomous control of unmanned aerial vehicles, and propose solution methodologies to address such challenges, analyse the proposed methodologies, and evaluate their performance.
Author :National Aeronautics and Space Adm Nasa Publisher :Independently Published ISBN 13 :9781793957245 Total Pages :26 pages Book Rating :4.9/5 (572 download)
Book Synopsis Design of Low Complexity Model Reference Adaptive Controllers by : National Aeronautics and Space Adm Nasa
Download or read book Design of Low Complexity Model Reference Adaptive Controllers written by National Aeronautics and Space Adm Nasa and published by Independently Published. This book was released on 2019-01-14 with total page 26 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flight research experiments have demonstrated that adaptive flight controls can be an effective technology for improving aircraft safety in the event of failures or damage. However, the nonlinear, timevarying nature of adaptive algorithms continues to challenge traditional methods for the verification and validation testing of safety-critical flight control systems. Increasingly complex adaptive control theories and designs are emerging, but only make testing challenges more difficult. A potential first step toward the acceptance of adaptive flight controllers by aircraft manufacturers, operators, and certification authorities is a very simple design that operates as an augmentation to a non-adaptive baseline controller. Three such controllers were developed as part of a National Aeronautics and Space Administration flight research experiment to determine the appropriate level of complexity required to restore acceptable handling qualities to an aircraft that has suffered failures or damage. The controllers consist of the same basic design, but incorporate incrementally-increasing levels of complexity. Derivations of the controllers and their adaptive parameter update laws are presented along with details of the controllers implementations. Hanson, Curt and Schaefer, Jacob and Johnson, Marcus and Nguyen, Nhan Ames Research Center; Armstrong Flight Research Center NND08RR01B; WBS 284848.02.05.02.02
Book Synopsis Robust and Adaptive Control Laws for a Mini Quad Rotor UAV by : Elisa Capello
Download or read book Robust and Adaptive Control Laws for a Mini Quad Rotor UAV written by Elisa Capello and published by LAP Lambert Academic Publishing. This book was released on 2012 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Different control laws have been analyzed, from the classical theory, like PD and LQR controllers, to an innovative theory, that is represented by the L1 adaptive controller. The validation of controllers is proposed on the experimental model (derived from flight tests) and in a formation flight application. A quadrotor is a platform with fast dynamics, thus if a sudden maneuver is implemented can cause glitches on the parameters trend and the aircraft could become uncontrollable. A key aspect of this controller is the definition of control signals as the output of a low pass-filter. This feature permits to avoid high frequency oscillations due to the large adaptation gain; in systems that use electronic devices. Moreover, this controller is robust in presence of model uncertainties and unmodeled dynamics. The simple structure and the presence of less oscillations during the implementation demonstrate that this controller can be a good candidate for an autopilot. Therefore, the low pass filter is evaluated by a trial and error method. To provide a systematic method, a mixed deterministic - randomized approach for the control law design (low pass filter) is proposed.
Book Synopsis A New Approach to Adaptive Control Using a Modified Observer by : Jose L. Tong
Download or read book A New Approach to Adaptive Control Using a Modified Observer written by Jose L. Tong and published by . This book was released on 1993 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fault Tolerant Flight Control by : Christopher Edwards
Download or read book Fault Tolerant Flight Control written by Christopher Edwards and published by Springer. This book was released on 2010-04-18 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by leading experts in the field, this book provides the state-of-the-art in terms of fault tolerant control applicable to civil aircraft. The book consists of five parts and includes online material.
Book Synopsis Artificial Neural Networks for Modelling and Control of Non-Linear Systems by : Johan A.K. Suykens
Download or read book Artificial Neural Networks for Modelling and Control of Non-Linear Systems written by Johan A.K. Suykens and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: Artificial neural networks possess several properties that make them particularly attractive for applications to modelling and control of complex non-linear systems. Among these properties are their universal approximation ability, their parallel network structure and the availability of on- and off-line learning methods for the interconnection weights. However, dynamic models that contain neural network architectures might be highly non-linear and difficult to analyse as a result. Artificial Neural Networks for Modelling and Control of Non-Linear Systems investigates the subject from a system theoretical point of view. However the mathematical theory that is required from the reader is limited to matrix calculus, basic analysis, differential equations and basic linear system theory. No preliminary knowledge of neural networks is explicitly required. The book presents both classical and novel network architectures and learning algorithms for modelling and control. Topics include non-linear system identification, neural optimal control, top-down model based neural control design and stability analysis of neural control systems. A major contribution of this book is to introduce NLq Theory as an extension towards modern control theory, in order to analyze and synthesize non-linear systems that contain linear together with static non-linear operators that satisfy a sector condition: neural state space control systems are an example. Moreover, it turns out that NLq Theory is unifying with respect to many problems arising in neural networks, systems and control. Examples show that complex non-linear systems can be modelled and controlled within NLq theory, including mastering chaos. The didactic flavor of this book makes it suitable for use as a text for a course on Neural Networks. In addition, researchers and designers will find many important new techniques, in particular NLq emTheory, that have applications in control theory, system theory, circuit theory and Time Series Analysis.
Book Synopsis Adaptive Control Tutorial by : Petros Ioannou
Download or read book Adaptive Control Tutorial written by Petros Ioannou and published by SIAM. This book was released on 2006-01-01 with total page 401 pages. Available in PDF, EPUB and Kindle. Book excerpt: Designed to meet the needs of a wide audience without sacrificing mathematical depth and rigor, Adaptive Control Tutorial presents the design, analysis, and application of a wide variety of algorithms that can be used to manage dynamical systems with unknown parameters. Its tutorial-style presentation of the fundamental techniques and algorithms in adaptive control make it suitable as a textbook. Adaptive Control Tutorial is designed to serve the needs of three distinct groups of readers: engineers and students interested in learning how to design, simulate, and implement parameter estimators and adaptive control schemes without having to fully understand the analytical and technical proofs; graduate students who, in addition to attaining the aforementioned objectives, also want to understand the analysis of simple schemes and get an idea of the steps involved in more complex proofs; and advanced students and researchers who want to study and understand the details of long and technical proofs with an eye toward pursuing research in adaptive control or related topics. The authors achieve these multiple objectives by enriching the book with examples demonstrating the design procedures and basic analysis steps and by detailing their proofs in both an appendix and electronically available supplementary material; online examples are also available. A solution manual for instructors can be obtained by contacting SIAM or the authors. Preface; Acknowledgements; List of Acronyms; Chapter 1: Introduction; Chapter 2: Parametric Models; Chapter 3: Parameter Identification: Continuous Time; Chapter 4: Parameter Identification: Discrete Time; Chapter 5: Continuous-Time Model Reference Adaptive Control; Chapter 6: Continuous-Time Adaptive Pole Placement Control; Chapter 7: Adaptive Control for Discrete-Time Systems; Chapter 8: Adaptive Control of Nonlinear Systems; Appendix; Bibliography; Index
Download or read book NASA SP. written by and published by . This book was released on 1990 with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robust Adaptive Control in the Presence of Unmodeled Dynamics by : Heather Syeda Hussain
Download or read book Robust Adaptive Control in the Presence of Unmodeled Dynamics written by Heather Syeda Hussain and published by . This book was released on 2017 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the advent of each next generation technology, demands for a rapidly reconfigurable control system yielding invariant performance under increasingly unknown or widely varying operating conditions becomes crucial. Adaptive control has long been viewed as one such control method, with implementation on high performance aerial vehicles providing nearly uniform performance across the flight envelope even with limited a priori knowledge on the aircraft's aerodynamic characteristics. This adaptation to parametric uncertainties is achieved through a process of online measurement, evaluation, and compensation through the control input. While the foundations of robust adaptive control theory were laid in the early 1980's, obtaining quantifiable and practically meaningful robust stability margins for adaptive systems remained an open problem. Successful implementation of adaptive control theory as a viable control solution can only be achieved when global robustness properties, especially with respect to unmodeled dynamics, are well understood. This thesis proposes a solution to this long standing open problem for a class of linear time-invariant plants, whose states are accessible. With the use of a modified adaptive update law, transformation of tracking and parameter errors, and sufficient conditions of a frequency-domain criterion, it is shown that the underlying closed-loop system has globally bounded solutions. That is, the overall adaptive system is shown to have analytically computable robustness margins that hold for arbitrary initial conditions. The proposed method and analysis utilizes several key properties of nonlinear dynamic systems, first principles of real analysis, and properties of strictly positive real systems to derive this fundamental result. Numerical results are presented to demonstrate that the sufficient conditions for global boundedness are non-conservative. It is also shown that, with these global properties established, specific conditions can be derived under which the advantage of adaptation over non-adaptive solutions for the control of uncertain systems is made clear. This advantage lies in the fact parameter adaptation allows learning of the uncertainties whenever the effect of unmodeled dynamics is small, leading to small tracking errors and improved robustness margins.
Book Synopsis Adaptive Mode Transition Control Architecture with an Application to Unmanned Aerial Vehicles by : Luis Benigno Gutiérrez Zea
Download or read book Adaptive Mode Transition Control Architecture with an Application to Unmanned Aerial Vehicles written by Luis Benigno Gutiérrez Zea and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, an architecture for the adaptive mode transition control of unmanned aerial vehicles (UAV) is presented. The proposed architecture consists of three levels: the highest level is occupied by mission planning routines where information about way points the vehicle must follow is processed. The middle level uses a trajectory generation component to coordinate the task execution and provides set points for low-level stabilizing controllers. The adaptive mode transitioning control algorithm resides at the lowest level of the hierarchy consisting of a mode transitioning controller and the accompanying adaptation mechanism. The mode transition controller is composed of a mode transition manager, a set of local controllers, a set of active control models, a set point filter, a state filter, an automatic trimming mechanism and a dynamic compensation filter. Local controllers operate in local modes and active control models operate in transitions between two local modes. The mode transition manager determines the actual mode of operation of the vehicle based on a set of mode membership functions and activates a local controller or an active control model accordingly. The adaptation mechanism uses an indirect adaptive control methodology to adapt the active control models. For this purpose, a set of plant models based on fuzzy neural networks is trained based on input/output information from the vehicle and used to compute sensitivity matrices providing the linearized models required by the adaptation algorithms. The effectiveness of the approach is verified through software-in-the-loop simulations, hardware-in-the-loop simulations and flight testing.
Book Synopsis Closed-loop Reference Model Adaptive Control by : Travis Eli Gibson
Download or read book Closed-loop Reference Model Adaptive Control written by Travis Eli Gibson and published by . This book was released on 2014 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Over the past two decades several attempts have been made to provide adaptive solutions with guaranteed transient properties. In this work it is shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over their open-loop counterparts in model reference adaptive control. In addition to deriving bounds on L-2 norms of the derivatives of the adaptive parameters which are shown to be smaller, an optimal design of CRMs is proposed which minimizes an underlying peaking phenomenon. The analytical tools proposed are shown to be applicable for a range of adaptive control problems including direct control, composite control with observer feedback and partial states accessible control. In addition a detailed study of the applicability of CRM adaptive control to very flexible aircraft is presented. Following the NASA Helios flight mishap in 2003 there has been a push for greater understanding of the aerodynamic-structural coupling that occurs in light, very flexible, flying wings. Previous efforts in that direction revealed that the flexible aircraft had instability in the phugoid mode for large dihedral angles and that including the flexible dynamics was necessary to arrive at an appropriate trim condition. In this thesis, we show how these large dihedral excursions can occur in the presence of turbulence, by constructing an overall nonlinear model that captures the dominant dynamics of a very flexible aircraft. The thesis closes with the application of CRM adaptive control to the VFA model.
Book Synopsis Small Unmanned Aircraft by : Randal W. Beard
Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
