Asymptotic Tracking for an Osprey Fixed-Wing Aircraft via Nonlinear Generalized Minimum Variance Control
Publication: Journal of Aerospace Engineering
Volume 33, Issue 3
Abstract
A nonlinear generalized minimum variance (NGMV) optimal controller is presented in this paper, which achieves tracking control of an Osprey fixed-wing aircraft with parameter uncertainties and unmodeled nonlinear disturbances. The optimal strategy involves minimizing a signal that includes the sum of the weighted tracking error and the weighted control effort. The input subsystem utilized in the dynamic model is very general and nonlinear. The reference model is represented as a linear subsystem, and the states are estimated using a modified linear Kalman filter. A benefit of the proposed NGMV optimal controller is that it is designed to be easily implementable and computationally minimal, requiring no online optimization. Finally, simulations of tracking control for an Osprey fixed-wing aircraft are provided and the performance of the proposed NGMV control law is compared with a proportional–integral–derivative (PID) controller.
Get full access to this article
View all available purchase options and get full access to this article.
Data Availability Statement
Some or all data, models, or code generated or used during the study are available from the corresponding author by request:
•
Parameters of the Osprey fixed-wing aerial vehicle;
•
Model of the Osprey fixed-wing aerial vehicle; and
•
Parameters of the controllers.
Acknowledgments
This research is supported by the Natural Science Foundation of Liaoning (No. 20180520023) and the National Natural Science Foundation of China (No. 61973052).
References
Astrom, K. 1970. Introduction to stochastic control. Cambridge, MA: Academic.
Azinheira, J. R., and A. Moutinho. 2008. “Hover control of an UAV with backstepping design including input saturations.” IEEE Trans. Control Syst. Technol. 16 (3): 517–526. https://doi.org/10.1109/TCST.2007.908209.
Brezoescu, A., T. Espinoza, P. Castillo, and R. Lozano. 2013. “Adaptive trajectory following for a fixed-wing UAV in presence of crosswind.” J. Intell. Rob. Syst. 69 (1): 257–271. https://doi.org/10.1007/s10846-012-9756-8.
Calise, A., and R. Rysdyk. 1998. “Nonlinear adaptive flight control using neural networks.” IEEE Control Syst. Mag. 18 (6): 14–25. https://doi.org/10.1109/37.736008.
Clarke, D., and P. Gawthrop. 1979. “Self-tuning control.” Proc. IEEE 126 (6): 633–640. https://doi.org/10.1049/piee.1979.0145.
Geiger, B. R., J. F. Horn, A. M. DeLullo, and L. N. Long. 2006. “Optimal path planning of UAVs using direct collocation with nonlinear programming.” In Proc., AIAA GNC Conf. Reston, VA: American Institute of Aeronautics and Astronautics.
Grimble, M. J. 2005. “Non-linear generalized minimum variance feedback, feedforward and tracking control.” Automatica 41 (6): 957–969. https://doi.org/10.1016/j.automatica.2004.12.009.
Grimble, M. J. 2007. “GMV control of non-linear continuous-time systems including common delays and state-space models.” Int. J. Control 80 (1): 150–165. https://doi.org/10.1080/00207170600965497.
Grimble, M. J., and P. Majecki. 2013. “Non-linear generalised minimum variance control using unstable state-dependent multivariable models.” IET Control Theory Appl. 7 (4): 551–564. https://doi.org/10.1049/iet-cta.2011.0706.
Kaminer, A., E. H. Pascoal, and C. Silvestre. 1998. “Trajectory tracking for autonomous vehicles: An integrated approach to guidance and control.” AIAA Guidance Control Dyn. 21 (1): 29–38. https://doi.org/10.2514/2.4229.
Leitner, J., A. Calise, and J. V. R. Prasad. 1997. “Analysis of adaptive neural networks for helicopter flight controls.” J. Guidance Control Dyn. 20 (5): 972–979. https://doi.org/10.2514/2.4142.
Li, C., and J. Yang. 2017. “Roll control using only synthetic jet actuators at high angle of attack.” J. Aircr. 54 (1): 371–377. https://doi.org/10.2514/1.C033670.
Liu, C., O. McAree, and W. Chen. 2013. “Path-following control for small fixed-wing unmanned aerial vehicles under wind disturbances.” Int. J. Robust Nonlinear Control 23 (15): 1682–1698. https://doi.org/10.1002/rnc.2938.
MacKunis, W., M. K. Kaiser, P. Patre, and W. E. Dixon. 2008. “Asymptotic tracking for aircraft via an uncertain dynamic inversion method.” In Proc., American Control Conf. New York: IEEE. https://doi.org/10.1109/ACC.2008.4587032.
MacKunis, W., Z. D. Wilcox, M. K. Kaiser, and W. E. Dixon. 2010. “Global adaptive output feedback tracking control of unmanned aerial vehicle.” IEEE Trans. Control Syst. Technol. 18 (6): 1390–1397. https://doi.org/10.1109/TCST.2009.2036835.
Mills, S., N. Aouf, and L. Mejias. 2013. “Image based visual servo control for fixed wing UAVs tracking linear infrastructure in wind.” In Proc., of IEEE Int. Conf. on Robotics and Automation. New York: IEEE. https://doi.org/10.1109/ICRA.2013.6631406.
Pang, Y., and M. Grimble. 2010. “Nonlinear generalised minimum variance control of delayed PWA systems.” IEEE Trans. Autom. Control 55 (12): 2817–2821. https://doi.org/10.1109/TAC.2010.2069810.
Pang, Y., H. Xia, and M. J. Grimble. Forthcoming. “Resilient nonlinear control for attacked cyber-physical systems.” IEEE Trans. Syst. Man Cybern. Syst. https://doi.org/10.1109/TSMC.2018.2801868.
Teh, S. H., and A. Nassirharand. 2014. “Design of dual-range linear multivariable controllers for nonlinear systems with application to UAV control.” J. Aerosp. Eng. 27 (2): 215–224. https://doi.org/10.1061/(ASCE)AS.1943-5525.0000233.
Xin, M., and H. Pan. 2010. “Robust control of PVTOL aircraft with a nonlinear optimal control solution.” J. Aerosp. Eng. 23 (4): 265–275. https://doi.org/10.1061/(ASCE)AS.1943-5525.0000039.
Yang, X., L. Mejias, and T. Molloy. 2012. “A gust-attenuation controller for fixed-wing UAVs during collision avoidance course.” In Proc., Int. Conf. on Unmanned Aircraft Systems. Denver: International Conference on Unmanned Aircraft Systems Association.
Zhang, X., D. Dawson, M. D. Queiroz, and B. Xian. 2004. “Adaptive control for a class of MIMO nonlinear systems with non-symmetric input matrix.” In Proc., Int. Conf. on Control Applications. New York: IEEE. https://doi.org/10.1109/CCA.2004.1387557.
Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 33 • Issue 3 • May 2020
Copyright
©2020 American Society of Civil Engineers.
History
Received: Apr 18, 2017
Accepted: Oct 18, 2019
Published online: Mar 3, 2020
Published in print: May 1, 2020
Discussion open until: Aug 3, 2020
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.