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检索条件"主题词=Model Reference Adaptive Control"

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UAV Aircraft Carrier Landing Using CFD-Based model Predictive control

UAV Aircraft Carrier Landing Using CFD-Based Model Predictiv...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Lorenzetti, Joseph McClellan, Andrew Farhat, Charbel Pavone, Marco Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA Stanford Univ Dept Mech Engn Inst Computat & Math Engn Stanford CA 94305 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

The control problem associated with autonomous aircraft carrier landings for UAVs is challenging due to requirements on safety, high-performance operation, and uncertain and highly dynamic environments. This work proposes a control scheme for such problems that enables safe operation of the UAV at the limits of its performance by utilizing a model predictive control (MPC) approach. While real-time computation requirements typically limit the fidelity of the models used in optimization-based control, in this work it is demonstrated that high-fidelity computational fluid dynamics (CFD) models can be used within an MPC framework via the construction of a projection-based reduced order model (ROM). An application of a CFD-based MPC scheme to the glideslope tracking problem is then developed to demonstrate the effectiveness of the proposed approach.

关键词： Aircraft Carriers model reference adaptive control Computational Fluid Dynamics Unmanned Aerial Vehicle Glideslope Flight Path Angle Aerodynamic Coefficients Fluid State Rigid Body Dynamics Earth

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Dynamic Inversion based Full Envelope Flight control for an eVTOL Vehicle using a Unified Framework

Dynamic Inversion based Full Envelope Flight Control for an ...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Lombaerts, Thomas Kaneshige, John Schue, Stefan Hardy, Gordon Aponso, Bimal Shish, Kimberlee NASA Ames Res Ctr Intelligent Syst Div Stinger Ghaffarian Technol Mail Stop 269-1 Moffett Field CA 94035 USA NASA Ames Res Ctr Intelligent Syst Div Mail Stop 269-1 Moffett Field CA 94035 USA NASA Ames Res Ctr Intelligent Syst Div Mail Stop 269-3 Moffett Field CA 94035 USA NASA Ames Res Ctr Mail Stop 269-3 Moffett Field CA 94035 USA NASA Ames Res Ctr Aeronaut Projects Off Mail Stop 210-14 Moffett Field CA 94035 USA Sci Applicat Int Corp Moffett Field CA 94035 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

Urban Air Mobility is a future mode of transportation that will require a revolutionary new vehicle concept. One of the concepts currently being studied and developed are eVTOL (electrical vertical takeoff and landing) vehicles. This paper discusses a nonlinear dynamic inversion based control law that was designed for this vehicle concept. Two advantageous inherent properties of dynamic inversion in this setup are the effective decoupling of the control axes which are by design highly coupled for this kind of vehicle, and its ability to naturally handle changes of operating condition, which removes the need for gain scheduling. These are advantageous for control of VTOL vehicles, due to their wide range of operating conditions which varies from hover to forward flight, and transitioning between them. The inner dynamic inversion control loop, including an optimization based blended control allocation strategy to the rotors as well as to the control surfaces, serves as an inner core flight control system for the full envelope. This setup is complemented with a set of linear controllers, and reference models as well as command filtering for the differentmanual controlmodes in the various flight phases. An autoflight mode is included as well. By using Incremental Nonlinear Dynamic Inversion, it was found that the overall controller becomes significantly less dependent on accurate aircraft model properties, especially with respect to the aerodynamic derivatives, of which one can expect limited knowledge for this kind of UAM vehicles.

关键词： Flight control Design Vertical Take off and Landing Flight control Surfaces model reference adaptive control Nonlinear Dynamic Inversion Blade Pitch control Urban Air Mobility Calibrated Airspeed Aircraft Configurations Aerodynamic Force Coefficients

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L1 adaptive controller Design for Single-Link Flexible Joint Manipulator with Fuzzy-PID Filter 28

L1 Adaptive Controller Design for Single-Link Flexible Joint...

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28th Iranian Conference on Electrical Engineering (ICEE)

作者： Ahmadian, Hossein Talebi, Heidar Ali Sharifi, Iman Amirkabir Univ Technol Dept Elect Engn Tehran Polytech Tehran Iran

ISBN: (纸本)9781728172965

The robot manipulators controller design with flexible joint due to strong coupling, time-varying characteristics, and high nonlinearity is commonly a big challenge. There is unavoidable uncertainty dependent on their dynamics and kinematics, such that exact structures not be available for controller design. In this work, an L-1 adaptive controller with a fuzzy-PID filter is proposed for the trajectory tracking and vibration control of a single-link manipulator system with flexible joint (SLMSFJ) with uncertainties and unknown nonlinear dynamics. Finally, the efficiency of the proposed structure is evaluated with simulation on SLMSFJ and compare with conventional L-1 adaptive and MRAC.

关键词： Fuzzy-PID L-1 adaptive control model reference adaptive control Single-Link Manipulator with Flexible Joint

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Fast Parameter Convergence in adaptive Flight control

Fast Parameter Convergence in Adaptive Flight Control

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Gaudio, Joseph E. Annaswamy, Anuradha M. Lavretsky, Eugene Bolender, Michael A. MIT Mech Engn 77 Massachusetts Ave Cambridge MA 02139 USA Boeing Co Huntington Beach CA 92647 USA Air Force Res Lab 2210 Eighth St Wright Patterson AFB OH 45433 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

Increasingly, a number of problems in control of complex systems require fast learning of uncertainties, with only a finite excitation of the system dynamics. Uncertainties may additionally be localized, requiring algorithms which provide for fast uncertainty estimation in specific locations in a state space. During the learning process, reference tracking performance must additionally be maintained for safety-critical systems. In this paper we present numerical simulation examples demonstrating learning of nonlinear in parameter uncertainties which occur due to ground effect present during aircraft landing. We demonstrate the efficacy of a recently developed parameter update algorithm with time-varying learning rates in estimating the unknown ground effect. In particular we show fast uncertainty estimation with a finite excitation, in addition to localized learning and long-term learning properties.

关键词： Numerical Simulation Aircraft Landing Flight control model reference adaptive control True Airspeed Elevator Deflection Flight Envelope adaptive control Systems Transport Aircraft Landing Performance

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Measures and LMIs for Lateral F-16 MRAC Validation

Measures and LMIs for Lateral F-16 MRAC Validation

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American control Conference (ACC)

作者： Wagner, Daniel Henrion, Didier Hromcik, Martin Czech Tech Univ Fac Elect Engn Tech 2 CZ-16626 Prague Czech Republic LAAS CNRS 7 Ave Colonel Roche F-31400 Toulouse France

ISBN: (纸本)9781538682661

Occupation measures and linear matrix inequality (LMI) relaxations (called the moment sums of squares or Lasserre hierarchy) are state-of-the-art methods for verification and validation (VV) in aerospace. In this document, we extend these results to a full F-16 closed-loop nonlinear dutch roll polynomial model complete with model reference adaptive control (MRAC). This is done through a new technique of approximating the reference trajectory by exploiting sparse ordinary differential equations (ODEs) with parsimony. The VV problem is then solved directly using moment LMI relaxations and off-the-shelf-software. The main results are then compared to their numerical counterparts obtained using traditional Monte-Carlo simulations.

关键词： model reference adaptive control

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Robust adaptive control of a Multirotor with an Unknown Suspended Payload 21st

Robust Adaptive Control of a Multirotor with an Unknown Susp...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Erasmus, A. P. Jordaan, H. W. Stellenbosch Univ Elect & Elect Engn Dept Stellenbosch South Africa

This paper addresses the problem of a multirotor carrying an unknown suspended payload, allowed to swing in one axis. The payload is unknown in the sense that its parameters, such as the payload mass and cable length, are unknown and its state, the swing angles, are not available for measurement. The suspended payload alters the flight dynamics of the vehicle considerably and the flight controllers need to minimize this effect. A robust model reference adaptive control technique is designed and implemented to minimize the effect of the suspended payload on the vehicle while allowing the controller to adapt to account for the unknown payload. The controller is modified to reject external disturbances and to be robust in the presence of sensor noise and drift. In simulation, this technique proves to dampen the oscillations caused by the payload. A quadrotor was built to practically demonstrate the effectiveness of the controller. The PX4 flight control stack is considered for the firmware of the vehicle. The model reference adaptive controller was implemented and succeeded to dampen the oscillations caused by the payload in a practical flight. Copyright (C) 2020 The Authors.

关键词： Learning and adaptation in autonomous vehicles Multirotor UAV Suspended payload model reference adaptive control Robust

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Tracking reference Orbits Around Asteroids with Unknown Gravitational Parameters Using a Nonlinear adaptive controller

Tracking Reference Orbits Around Asteroids with Unknown Grav...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Tiwari, Madhur Prazenica, Richard Henderson, Troy Embry Riddle Aeronaut Univ Dept Aerosp Engn Daytona Beach FL 32114 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

In this paper, a nonlinear adaptive controller is implemented to track reference orbit trajectories around asteroids or small bodies. The two-body problem with a rotating reference frame is used to model the dynamics of the spacecraft with respect to the asteroid frame of reference. Gravitational perturbations, solar radiation pressure and other unmodeled dynamics are taken as disturbances to the system model. This type of controller has several advantages over other conventional controllers in the presence of uncertain system properties. Preliminary results shows accurate tracking of desired trajectories around asteroid Ida in the presence of unknown gravitational perturbations.

关键词： Asteroid Collisions Solar Radiation model reference adaptive control Earth Nonlinear Systems Optimal control Extended Kalman Filter Spacecraft Trajectories Asteroid Missions Attitude Dynamics

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adaptive control for Attitude Match Station-Keeping and Landing of a Fixed-Wing UAV onto a Maneuvering Platform

Adaptive Control for Attitude Match Station-Keeping and Land...

引用

AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Pravitra, Jintasit Johnson, Eric N. Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA Penn State Univ Dept Aerosp Engn University Pk PA 16802 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

This paper presents a model reference adaptive controller applied to the problem of station-keeping (maintaining relative position) and landing of a fixed-wing UAV onto a maneuvering platform. By retrofitting the aircraft with a side force control surface and utilizing the direct lift control flaps, translational maneuvers without change in pitch and roll attitude can be achieved. The additional controls allowmodel inversion to be done on all six degrees of freedom. A reference model is proposed such that position and heading can be matched synchronously at touchdown. Our approach differs from the previous works as many researchers did not explicitly address the attitude match problem. The controller is a model reference adaptive controller with a neural network as the adaptive element. Simulation results are presented for two successful cases and three failed cases (which are overly ambitious in practice). The two successful cases are: zero attitude station-keeping with a turning platform, and full 6DOF match landing on a turning platform. The failed cases are: positive pitch descent, large relative heading hold, and station-keeping with a platform with high turn rate.

关键词： Unmanned Aerial Vehicle model reference adaptive control Rotational Kinematics Neural Networks Fixed Wing Aircraft Flight Testing Ailerons Vertical Takeoff and Landing Level Flight Rotorcrafts

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Limited Authority adaptive control Architectures with Dynamic Inversion or Explicit model Following

Limited Authority Adaptive Control Architectures with Dynami...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Lewis, Jeffrey A. Johnson, Eric N. Penn State Univ University Pk PA 16802 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

Aerospace adaptive control has exploited a variety of control techniques since its initial debut in the pursuit of robustness and fault tolerance. This variety of both taxonomy and approaches can create a system of systems which may make generalizations difficult. This paper contributes to the understanding of adaptive systems by synthesizing connected literature to explore the interactions of a baseline adaptive control architecture and trace its development. Comparable performance is shown with explicit model following (EMF) and dynamic inversion (DI) in series feedback with adaptive and linear controller. Articles were included in the review which led to the development of an architecture with dynamic inverse, control allocation, saturation, explicit model following, and adaptive element or demonstrated their interaction effects. A Lyapunov based stability proof was conducted to show stability of the EMF architecture with limited authority pseudocontrol hedge. Robust and limited authority cases were demonstrated by simulation. DI in series and EMF adaptive control architectures were found to have comparable performance under both conditions. Both techniques serve a similar purpose. While dynamic inversion has a clearer implementation and stability proof, many existing rotorcraft use explicit model following for its advantages;integrating EMF with adaptive control produces a viable alternative.

关键词： model reference adaptive control Rotorcrafts Fault Tolerance Feedback Linearization Flight Testing Flying Wires Intelligent Flight control System Nonlinear Systems Aerospace System Angle of Attack

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Designing of an updated MRAC with PD Feedback for Marginally Stable Second-order process with Dead Time 5

Designing of an updated MRAC with PD Feedback for Marginally...

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5th IEEE International Conference on Computing Communication and Automation, ICCCA 2020

作者： Manna, Saibal Akella, Ashok Kumar Nit Jamshedpur Electrical Engineering Department Jharkhand India

ISBN: (数字)9781728163246

ISBN: (纸本)9781728163246

The performance of standard PID controller is unsatisfactory for processes that vary over time. In those instances adaptive controllers can adjust the control behavior by adjusting the process dynamics and unwanted load changes. The required process performance criteria for the process are given as a reference model in the model reference adaptive control (MRAC). The adaptation algorithm modifies the control outcome depending on the difference between the outcome of the reference model and actual process with a fixed adaptation gain ($\lambda$). This paper focuses on the various MRAC technique for marginally stable second-order process with dead time. The first one is based on the MIT rule, the second one is based on the Lyapunov stability and the third is the modified MRAC method. In third method, proportional derivative (PD) feedback is connected to the standard MRAC model and the updated controller is called as MRAC-PD. The modified controller assure better response compared to other method. This controller provides better set point tracking with less oscillation and lower oscillations during unfavorable loading changes. This fact is also confirmed by using various performance indexes like integral absolute error (IAE), integral time absolute error (ITAE) and integral square error (ISE) under closed loop operation. Using Simulink, the methods are showcased. © 2020 IEEE.

关键词： model reference adaptive control

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