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flight control Based on Adaptive Output Feedback for Quadrotors Using Quaternions

JOURNAL OF ROBOTICS AND MECHATRONICS 2024年第5期36卷 1098-1109页

作者： Adachi, Shinji Zhu, Chenyang Mizumoto, Ikuro Kumamoto Univ Grad Sch Sci & Technol 2-39-1 KurokamiChuo Ku Kumamoto Kumamoto 8608555 Japan Kumamoto Univ Fac Adv Sci & Technol 2-39-1 KurokamiChuo Ku Kumamoto Kumamoto 8608555 Japan

Quadrotors are expected to play an active role in outof-sight areas such as equipment inspection and transportation of supplies to disaster areas. However, ensuring stable and highly accurate automatic flights has become a significant challenge. Trajectory tracking control methods that combine adaptive output feedback control based on almost strictly positive real characteristics and backstepping strategy have been proposed for a quadrotor control system with nonlinearities. These methods have simple structures and are robust. However, existing adaptive control methods have the problem of singularities, owing to the use of Euler angles in the modeling of quadrotors. In this paper, we propose an adaptive control method that enables a wider range of attitude changes using quaternions. The effectiveness of the proposed method is validated through numerical simulations.

关键词： quadrotor adaptive control flight control backstepping strategy

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flight control Method Using Neural Network in Prediction for Suppressing Ship Airwake Impact in Carrier Landing

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IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE 2023年第7期38卷 20-32页

作者： Meng, Yue Wang, Wei Han, Hao Beihang Univ Inst Unmanned Syst Beijing 100191 Peoples R China Beihang Univ Sch Instrumentat & Optoelect Engn Beijing 100191 Peoples R China

Ship airwake is an important factor affecting the accurate carrier landing of carrier-based aircraft. To suppress the effects of airwake, this article presents a flight control method using neural network prediction. Different from most studies focusing on improving the adaptability of the flight control methods, the emphasis of the research is placed on modeling the effects of the ship airwake in the carrier landing environment pertinently and reflecting the effects in the control model. From a large amount of carrier landing flight data, the impact of airwake on the landing control can be extracted and summarized into models based on neural network algorithm. Then the airwake impact in the next period of time can be predicted. A flight control law is designed combining the predicting model of airwake impact with model predictive control. The simulation demonstrated that the presented method can reduce the trajectory deviation influenced by airwake and decrease the touchdown dispersions.

关键词： Atmospheric modeling Marine vehicles Aircraft Aerospace control Predictive models Wind speed Prediction algorithms Carrier landing flight control ship airwake neural network prediction

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System design and flight control of a flying wheel-legged humanoid robot (FWLR)

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2025年

作者： Xu, Bo Li, Xu Feng, Haibo Fu, Yili Harbin Inst Technol State Key Lab Robot & Syst Harbin Peoples R China

PurposeThe purpose of this paper is to design a flying wheel-legged humanoid robot (FWLR), endowing the robot with flight capability to improve the obstacle-crossing ability of the wheel-legged humanoid robot. A flight control method using thrust-vector-control (TVC) under constant thrust strength is proposed, which reduces the performance requirements on the response speed of ***/methodology/approachTo endow the robot with flight capability, three sets of thrusters are installed at the robot's back and two arm ends to provide flight lift and the direction of thrust can be changed through the arm swing. According to the robot configuration, this paper established a linearized dynamic model and proposed a constant-strength-thrust-vector-control (CSTVC) framework enabling the robot to achieve flight without thrust intensity *** the proposed modeling method and CSTVC framework, FWLR can inhibit attitude and position drift during takeoff and hovering, and has certain adaptability to takeoff attitude. Finally, FWLR reached a flying height up to 1 m under a 30 kg large self-weight with fixed thrust ***/valueThe design, modeling and flight control method proposed in this paper enables a human-sized wheel-legged humanoid robot to achieve takeoff and hovering for the first time. The movement range of wheel-legged humanoid robot is extended to the air, thereby enhancing its application value in emergency tasks such as disaster search-and-rescue.

关键词： Humanoid robot Dynamics modeling flight control Thrust vector control

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Robust flight control based on a nonlinear-L1 adaptive control with modified piecewise-constant and HIL experiments

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NONLINEAR DYNAMICS 2025年第9期113卷 9839-9859页

作者： Li, Yu He, Qizhi Liu, Xiaoxiong Zhang, Weiguo Jing, Xingjian City Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China Northwestern Polytech Univ Coll Automat Xian 710072 Shaanxi Peoples R China Beijing Inst Technol Yangtze River Delta Res Inst Jiaxing City Zhejiang Peoples R China

This paper presents a novel nonlinear dynamic inversion-based L1 adaptive control (NDI-L1) for fixed-wing aircraft with strong nonlinearity, model uncertainties, and center of gravity variations. This adaptive structure can decouple the system's fast adaptation and robustness, thus reducing the oscillations caused by high adaptation gain. Moreover, compared to existing L1 adaptive control, NDI-L1 control enlarges its application range, providing satisfactory dynamic performance as well as robustness within the flight envelope. Additionally, this paper also improves the existing piecewise-constant adaptation (PCA), addressing the contradiction between estimation accuracy and sampling time. The modified PCA achieves the desired estimation accuracy while effectively reducing the computational burden. The dynamic performance of the proposed adaptive structure under disturbance is theoretically analyzed. Importantly, the robust flight controller is designed based on the proposed NDI-L1 to eliminate the influences of parameter perturbations and sudden changes in the center of gravity on flight dynamics. Simulations and hardware-in-the-loop experimental results clearly confirm the effectiveness, advantages, and robustness of the proposed NDI-L1 with modified PCA, and compare it to other existing methods.

关键词： NDI-based L1 adaptive control flight control Modified piecewise-constant adaptation Center of gravity variation HIL flight experiment

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flight control Design for eVTOL Aircraft Using Nonlinear Dynamic Inversion and H∞ control

Flight Control Design for eVTOL Aircraft Using Nonlinear Dyn...

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2024 International Conference on Guidance, Navigation and control

作者： Gao, Wenxuan Jiang, Wenhong Lu, Bei Li, Qifu Shanghai Jiao Tong Univ Sch Aeronaut & Astronaut Shanghai Peoples R China

ISBN: (纸本)9789819622306;9789819622283;9789819622276

The electrical vertical take-off and landing(eVTOL) vehicle is a prospective choice for urban transportation due to zero emission and low requirements on landing sites. However, full envelope flight control design of an eVTOL is challenging because of its wide range of flight conditions and strong nonlinearities near the transition state. A nonlinear dynamic inversion(NDI) based control method is studied to address this issue. The NDI-based control method requires no gain-scheduling step and is able to maintain stability and performances over a large flight envelope, which makes it an ideal option for eVTOL flight control. In this paper, a flight controller for a real-world unmanned eVTOL is designed. We incorporate an NDI-based inner loop controller with an H-infinity outer loop controller to increase robustness of the overall system for each flight mode of the eVTOL. All the sub-controllers are integrated together to complete a flight from vertical takeoff, forward transition, level flight, backward transition, to eventually landing. Simulation results show that system's stability can be assured by the NDI-based controller giving appropriate pilot commands and control signal limitations and the system's tracking performance reaches expectations. This shows potentials of applying NDI-based methods to eVTOL control designs.

关键词： electrical vertical take-off and landing vehicles flight control nonlinear dynamic inversion H-infinity control

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Research on adaptive nonlinear dynamic inversion fault-tolerant flight control system based on sideslip trim strategy

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AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2025年第4期97卷 369-381页

作者： Li, Kecheng Shi, Jingping Liu, Xiaoxiong Zhu, Hongyuan Wang, Lei Northwestern Polytech Univ Sch Automat Xian Peoples R China

PurposeLoss of control and air crashes are frequently caused by aircraft faults. Therefore, a practical control strategy can prevent aircrafts from losing control without control laws reconstruction. The purpose of this paper is to propose a sideslip trim fault-tolerant control strategy for wing damage and aileron ***/methodology/approachThe six degree of freedom model of the damaged aircraft is constructed by using the non-center-of-mass approach on the basis of aerodynamic database, which is calculated in XFlow. This paper adopts the sideslip command for trim, combining with the adaptive nonlinear dynamic inversion control to achieve fault-tolerant *** strategy can effectively improve the control margin of the remaining control surface and guarantee maneuverability of the aircraft after serious ***/valueThe original and wing-damaged aircraft models are reconstructed in CATIA, and the aerodynamic data is calculated in XFlow. Sideslip angle is adopted to compensate additional roll moment caused by wing damage or aileron stuck. Adaptive nonlinear dynamic inversion control, combined with sideslip trim, is applied to achieve fault-tolerant control.

关键词： flight control Sideslip trim Adaptive nonlinear dynamic inversion Fault-tolerant control

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Acceleration flight control for Reduced Gravity flight in Large Fixed-Wing Aircraft

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MICROGRAVITY SCIENCE AND TECHNOLOGY 2025年第3期37卷 1-16页

作者： Aldosari, Mohammed Nasser Feron, Eric King Abdullah Univ Sci & Technol Mech Engn Thuwal 239556900 Makkah Saudi Arabia King Abdullah Univ Sci & Technol Comp Elect & Math Sci & Engn Div Thuwal 239556900 Makkah Saudi Arabia

Access to reduced-gravity environments is a cornerstone of space research, enabling scientific experiments in space-like conditions. While parabolic flights have long served as an accessible platform for microgravity studies, their reliance on manual piloting limits precision and repeatability. This paper introduces an autonomous flight control framework designed to execute reduced-gravity maneuvers in large fixed-wing aircraft. The proposed system regulates all four phases of the maneuver by commanding a reference acceleration profile. This approach enables precise control over the aircraft's acceleration, ensuring consistent reduced gravity conditions critical for experimental applications. The control architecture comprises three specialized controllers: one each for tangential and normal acceleration regulation and another for minimizing angle-of-attack variations to dampen pitch oscillations. The proposed framework is evaluated on a nonlinear Boeing 747 model implemented in MATLAB Simulink. Simulation results show that the controller maintains residual accelerations within +/- 0.02g\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\pm 0.02\,g$$\end{document} for zero-, lunar-, and Martian-gravity manoeuvres, matching the error margins reported in published flight data. Key challenges are addressed, such as non-minimum phase dynamics, altitude-dependent air density variations, and pitch oscillations at the center of gravity. These findings contribute to the advancement of autonomous flight control for more reliable and precise reduced-gravity research.

关键词： Microgravity Reduced gravity flight control Acceleration control Fixed-wing aircraft

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Resilient flight control for a 32g Nano Helicopter

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第12期71卷 16057-16067页

作者： Muthusamy, Praveen Kumar Tran, Vu Phi Garratt, Matthew Annavati, Sreenatha Pota, Hemanshu Kok, Jia Ming Univ New South Wales Sch Engn & Informat Technol Canberra ACT 2612 Australia Def Sci Technol DST Org Aerosp Div Edinburgh SA 5111 Australia

Nano helicopter unmanned air vehicles (NHUAVs) offer significant advantages due to their compact size, maneuverability, and cost-effectiveness, making them versatile and flexible platforms for various applications. Despite these merits, achieving full autonomy in NHUAV control presents challenges including multivariable, strongly coupled nonlinear systems, susceptibility to external disturbances, uncertainty in system dynamics, and altitude loss during sharp turns. This article introduces a novel robust adaptive bidirectional fuzzy brain emotional learning (BFBEL) control strategy to address these challenges and achieve stable pose control and highly accurate trajectory tracking for uncertain NHUAVs. The BFBEL controller integrates fuzzy inference, a neural network, and a bidirectional brain emotional learning (BBEL) mechanism, enabling rapid adaptation and precise flight control. Implemented on a customized 32g NHUAV platform, the proposed control algorithm demonstrates remarkable performance in the presence of wind disturbance and system uncertainty. The obtained results underscore the superiority of BFBEL, showcasing significant advancements over self-adaptive sliding surface-based Takagi-Sugeno fuzzy control and conventional PID control approaches in terms of robustness to disturbances and trajectory tracking precision.

关键词： Brain emotional learning (BEL) bidirectional fuzzy brain emotional learning (BFBEL) flight control fuzzy neural network 6DOF position control rotary wing unmanned air vehicle (UAV) wind disturbance

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Research on a backstepping flight control method improved by STFT in atmospheric disturbance applications

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2024年第15期238卷 1534-1547页

作者： Ming, Ruichen Liu, Xiaoxiong Li, Yu Zhang, WeiGuo Northwestern Polytech Univ Dongxiang Rd Xian Shaanxi Peoples R China

The adaptive backstepping method has strong performance in handling control problems with disturbances in previous research. However, it exhibits limitations when applied to time-varying disturbances. This paper proposes an improved adaptive backstepping method based on Discrete Fourier Transform (DFT). By estimating the frequency spectrum of the disturbance and indirectly obtaining its time-domain estimate, the proposed method effectively overcomes the shortcomings of traditional adaptive backstepping. To address the issue of frequency leakage caused by discontinuities in window data, the idea of DFT is improved by using STFT with the addition of the window function and window-shifting operation. Additionally, a projection operator and adaptive reduction of the control objective are employed to mitigate the effects of actuator saturation. Finally, in simulations involving an aircraft subjected to gusts and turbulence, the proposed method is compared with traditional adaptive backstepping and radial basis function (RBF) neural network control methods. Simulation results demonstrate that the proposed method outperforms the others in these experimental scenarios.

关键词： flight control atmospheric disturbance adaptive backstepping short-time fourier transform constrained control

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Fault Tolerant flight control for the Traction Phase of Pumping Airborne Wind Energy Systems

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2024年第8期22卷 2428-2443页

作者： Mohammed, Tareg Oland, Espen Fagiano, Lorenzo Kitemill AS N-5704 Voss Norway Politecn Milan Dipartimento Elettron Informaz & Bioingn I-20133 Milan MI Italy UiT The Arctic Univ Norway N-8514 Narvik Norway

A fault-tolerant control approach is proposed, for a pumping airborne wind energy system (AWES) comprising a tethered fixed-wing aircraft with integrated propellers for vertical take-off and landing (VTOL). First, the flight control design for the traction phase of the system, when the tethered aircraft has to fly in loops using the rudder, is presented. Then, the presence of the propellers, that are normally not used in the traction phase, is exploited to obtain a fault tolerant controller in case of rudder malfunctioning. The approach detects a possible discrete control surface fault and compensates for the loss in actuation by using the VTOL system. A sophisticated model of the system is used to analyse the performance of the proposed technique. The main finding is that the approach is able to handle abrupt rudder faults with high tolerance.

关键词： Airborne wind energy fault-tolerant control flight control high-altitude wind nonlinear control

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