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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Prabhakar, Nirmit Prazenica, Richard Balas, Mark Embry Riddle Aeronaut Univ Aerosp Engn Daytona Beach FL 32114 USA Univ Tennessee Ctr Autonomous & Evolving Syst Space Inst Knoxville TN USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

This paper investigates the robustness of direct adaptive control schemes and relates the stability margins to aircraft dynamics. It also formulates a method to augment the handling qualities of an aircraft by using an ideal reference model that the aircraft can track. The aircraft equations of motions are solved and a mathematical transformation is derived to convert the system into normal form where the transmission zeros of the system are analyzed. This analysis provides insight into the effect of aircraft stability coefficients on the stability of the adaptive control scheme. This stability margin is then used to augment modes of the aircraft that do not satisfy the Cooper-Harper handling qualities by using a reference model to be tracked by the adaptive system while still satisfying the stability criteria for the adaptive controller.

关键词： Handling Qualities Aircraft Dynamics Ryan Navion model reference adaptive control Aircraft Stability control Surfaces Aerodynamic Coefficients Pilot State Space Systems General Aviation

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Landing a Fixed-Wing UAV on a Moving Platform: A Pseudospectral Optimal control Approach

Landing a Fixed-Wing UAV on a Moving Platform: A Pseudospect...

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AIAA Aviation Forum and Exposition

作者： Pravitra, Jintasit Clarke, John-Paul 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)9781624105890

ISBN: (纸本)9781624105890

This paper presents a preliminary development on a guidance algorithm capable of landing a fixed-wing UAV on a moving platform. The problem has not been investigated thoroughly by the community where almost all of related works are applications of either helicopters or multirotors. The problem is challenging because it demands position, velocity, and attitude to be matched simultaneously at touchdown. We formulate the problem as a minimum time optimal control problem and solve it using the pseudospectral optimal control method. We found that direct-lift control is a key element to successfully match position, velocity, and attitude simultaneously at touchdown. Our approach can handle steady wind and can also handle mildly maneuvering platform scenario. The algorithm is tested with various initial conditions and also tested in a receding horizon manner. The method is too slow to run in real-time. However, it reveals many challenges unique to this problem that must be overcome in future research.

关键词： Pontryagin's Maximum Principle Unmanned Aerial Vehicle Rotary Wing Guidance Algorithms Helicopters model reference adaptive control Nonlinear Programming Fixed Wing Aircraft Joint Precision Approach and Landing System control Surfaces

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Measures and LMIs for adaptive control Validation 58

Measures and LMIs for Adaptive Control Validation

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58th IEEE Conference on Decision and control (CDC)

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

ISBN: (纸本)9781728113982

Occupation measures and linear matrix inequality (LMI) relaxations (called the moment sums of squares or Lasserre hierarchy) have been used previously as a means for solving control law verification and validation (VV) problems. However, these methods have been restricted to relatively simple control laws and a limited number of states. In this document, we extend these methods to model reference adaptive control (MRAC) configurations typical of the aircraft industry. The main contribution is a validation scheme that exploits the specific nonlinearities and structure of MRAC. A nonlinear F-16 plant is used for illustration. LMI relaxations solved by off-the-shelf-software are compared to traditional Monte-Carlo simulations.

关键词： model reference adaptive control

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adaptive Speed control based on Disturbance Compensation for Engine-Dynamometer System 9th

Adaptive Speed Control based on Disturbance Compensation for...

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9th IFAC International Symposium on Advances in Automotive control (AAC)

作者： Ruan, Diwang Xie, Hui Song, Kang Zhang, Guohui Tianjin Univ State Key Lab Engines Tianjin 300072 Peoples R China

The speed control is a loop of much significance in engine-dynamometer test bench. To solve problems resulting from traditional PID in present industry, such as a long tuning period of controller parameters and degraded dynamical speed control performance after a change of bench configuration or parameters, a new control method based on disturbance compensation and model reference adaptive control was proposed. Extended state observer was used to estimate and compensate the uncertainties and disturbance both inside and outside the system, and feedback control law was updated based on Lyapunov function, with control parameters identified online by recursive least square. The simulation results show that the proposed control method can improve speed control precision in the engine-dynamometer system. Furthermore, the calibrating effort in control parameters can be sharply reduced. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Engine-dynamometer system extended state observer model reference adaptive control

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modeling, control and human-in-the-loop stability analysis of an elastic quadrotor

arXiv

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arXiv 2020年

作者： Eraslan, Emre Yildiz, Yildiray Mechanical Engineering Bilkent University Cankaya Ankara06800 Turkey

This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates the controller design. A delay-dependent stability condition is obtained for the overall system dynamics, including the operator with reaction time delay, the adaptive controller and the flexible quadrotor dynamics. Two different adaptive controllers are implemented to address the uncertainties. It is demonstrated via simulations that the flexible arm tip oscillations are mitigated when a closed loop reference model adaptive controller is used, compared to a conventional model reference adaptive controller. © 2020, CC BY.

关键词： model reference adaptive control

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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

作者： Daniel Wagner Didier Henrion Martin Hromcik Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

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 aerospace new technique Moment of force

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An input to state stability approach for evaluation of nonlinear control loops with linear plant model 7th

An input to state stability approach for evaluation of nonli...

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7th Computer Science On-line Conference, CSOC 2018

作者： Benes, Peter Bukovsky, Ivo Department of Instrumentation and Control Engineering Czech Technical University in Prague Prague Czech Republic Department of Mechanics Biomechanics and Mechatronics Center of Advanced Aerospace Technology Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9783319911915

This paper introduces a novel ISS stability evaluation for a LNU based HONU-MRAC control loop where an LNU serves as a plant and a HONU as a non-linear polynomial feedback controller. Till now, LNUs have proven their advantages as computationally efficient and effective approximators, further optimisers of linear and weakly non-linear dynamic systems. Due to the fundamental construction of an HONU-MRAC control loop featuring analogies with discrete-time non-linear dynamic models, two novel state space representations of the whole LNU based HONU-MRAC control loop are presented. Backboned by the presented state space forms, the ISS stability evaluation is derived and verified with theories of bounded-input-bounded-state (BIBS) and Lyapunov stability on a practical non-linear system example. © 2019, Springer International Publishing AG, part of Springer Nature.

关键词： model reference adaptive control

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Partial-State Feedback Multivariable MRAC and Reduced-Order Designs

arXiv

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arXiv 2020年

作者： Song, Ge Tao, Gang Department of Electrical and Computer Engineering University of Virginia CharlottesvilleVA22904 United States

This paper develops a new model reference adaptive control (MRAC) framework using partial-state feedback for solving a multivariable adaptive output tracking problem. The developed MRAC scheme has full capability to deal with plant uncertainties for output tracking and has desired flexibility to combine the advantages of full-state feedback MRAC and output feedback MRAC. With such a new control scheme, the plant-model matching condition is achievable as with an output or state feedback MRAC design. A stable adaptive control scheme is developed based on LDS decomposition of the plant high-frequency gain matrix, which guarantees closed-loop stability and asymptotic output tracking. The proposed partial-state feedback MRAC scheme not only expands the existing family of MRAC, but also provides new features to the adaptive control system, including additional design flexibility and feedback capacity. Based on its additional design flexibility, a minimal-order MRAC scheme is also presented, which reduces the control adaptation complexity and relaxes the feedback information requirement, compared to the existing MRAC schemes. New results are presented for plant-model matching, error model, adaptive law and stability analysis. A simulation study of a linearized aircraft model is conducted to demonstrate the effectiveness and new features of the proposed MRAC control scheme. Copyright © 2020, The Authors. All rights reserved.

关键词： model reference adaptive control

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Robust adaptive control Laws for Tilt-Rotor Quadcopters Subject to User-Defined Constraints

Robust Adaptive Control Laws for Tilt-Rotor Quadcopters Subj...

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作者： Anderson, Robert University of Oklahoma

学位级别：硕士

This thesis focuses on model reference adaptive control (MRAC) and its application to a tilt-rotor quadcopter. After formulating two standard MRAC approaches, this thesis proposes a robust model reference adaptive control law that guarantees satisfactory trajectory following for the nonlinear dynamical system despite parametric, matched, and unmatched uncertainties. This control law is unique for its ability to exploit barrier Lyapunov functions and guarantee user-defined constraints both on the trajectory tracking error and the adaptive gains at all time. The proposed robust control law is then applied to design a control law for a tilt-rotor quadcopter with H-configuration with unknown and unsteady center of mass and matrix of inertia due to the presence of poorly modeled and dangling payloads. The tilt-rotor quadcopter equations of motion are presented and thoroughly analyzed. A novel approach is proposed to model the coupling between the translational and rotational dynamics as matched uncertainties, and a control strategy is developed to overcome the vehicle's underactuation. A tilt-rotor is designed and all of the components are presented and discussed. A challenging experiment where a tilt-rotor quadcopter pulls an unknown cart is performed and the results show the applicability of the proposed theoretical framework.

关键词： Robust adaptive control model reference adaptive control Tiltrotor Quadcopter

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Research on adaptative algorithm in flexible nozzle electro-hydraulic servo system 8

Research on adaptative algorithm in flexible nozzle electro-...

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8th IEEE International Conference on Fluid Power and Mechatronics, FPM 2019

作者： Liu, Chunqing Jiang, Yufeng Li, Yonghong Pan, Long Beijing Institute of Precision Mechatronics and Controls Beijing China CERI Long Product LTD Beijing China

ISBN: (纸本)9781728103112

An adaptive control system with good following characteristics is designed for the electro-hydraulic servo system which is seriously nonlinear. The model of position servo system on flexible nozzle is discussed with the uncertain system equivalent to the one with parametric variable double input and single output to establish a Popov-MRAC system. The simulation results show that the adaptive control system has good following characteristics and robustness. © 2019 IEEE.

关键词： model reference adaptive control

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