Block Backstepping for Nonlinear Flight Control Law Design

Abstract

Summary. In this chapter we describe the block backstepping approach to flight control law design. Block backstepping is a Lyapunov based technique for controller design which is particularly well suited to the rigid body control problem where the main means of control is through the moments, which is the case in most aircraft. The resulting controller has semi-global (in the state space) stabilising properties and has a moderate number of parameters that can be used for tuning. We illustrate the theory by simulations of the ADMIRE model with a block backstepping controller in demanding manoeuvres such as high-alpha flight and high-rate velocity vector rolls.

Robust Tracking Controller Design for a Class of Block Lower‐Triangular Systems

“…( [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] Similar to that in Phase 1, if f i is large enough, the state trajectory of the i th actual subsystem may be sufficiently close to that of the i th nominal closed-loop system given by:…”

“…Remark 5. According to (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18)(19)(20)(21)(22), one can see that the proposed controller is a linear time invariant system that can be implemented easily, and only two parameters need to be designed for each sub-controller. Moreover, since the problem of the "explosion of complexity" is avoided, each sub-controller has the same form and they can be designed independently.…”

“…From (2-2), (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13), (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18)(19) and , it can be seen that:…”

“…. From (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18)(19)(20)(21)(22), (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15), (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17) and (3)(4)(5)(6)(7)(8)…”

“…Xue developed the extended state observer (ESO) and the active disturbance rejection control (ADRC) for a class of MIMO disturbance lower-triangular systems [18]. Robinson designed the block backstepping control law for the flight control system [19]. Based on the sliding mode control, [20,21] put forward the block control technique that had been successfully adopted in motor control systems [22,23].…”