Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Keijzer, Twan; Looye, Gertjan; Chu, Q.P.; Kampen, E. van

doi:10.2514/6.2019-0129

Cited by 29 publications

(32 citation statements)

References 18 publications

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“…6, the command module, which contains the described RCAH outer loop, translates the stick signal which is given either by the pilot or the flight test engineer to the reference signals needed for the LPV inner loop. The described control system setup has been tested in previous experiments on the Citation aircraft [5][6][7] and is consequently reused in the shown flight tests. The attitude hold option can be deactivated within the command module.…”

Section: A Test Aircraft and Control Systemmentioning

confidence: 99%

“…For the validation of the LPV controller in this work, a CS 25 certified Cessna Citation II is chosen as controller testbed. On this aircraft, extensive experience of testing various fly-by-wire (FBW) control laws has been gained within previous test campaigns for (incremental) non-linear dynamic inversion ((I)NDI) control and incremental backstepping (IBS) based control [5][6][7]. Thus, the aircraft has shown to be a very capable testbed for the validation of new control algorithms for transport aircraft.…”

Section: Introductionmentioning

confidence: 99%

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Flight Testing a Linear Parameter Varying Control Law on a Passenger Aircraft

Weiser

Ossmann

Kuchar

et al. 2020

AIAA Scitech 2020 Forum

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To improve performance and efficiency of future aircraft generations, multi-objective control design problems considering effects such as over-actuation and lowly damped flexible modes arise from new materials in the wing design. A candidate method, which delivers a solution to this problem for the whole flight envelope is linear parameter varying (LPV) control synthesis. It already incorporates the controller scheduling in the synthesis process, guaranteeing stability and robustness over the entire scheduling envelope, and enables intuitive multi-objective, multiple-input multiple-output (MIMO) controller designs. To prove the concept of LPV controllers in a realistic environment, the flight test campaign results of LPV inner loop control laws on a Cessna Citation II (550) aircraft are presented in this paper. The implemented inner loop controllers are inspired by classical flight controllers used on state-of-the-art fly-by-wire airliners. The longitudinal motion is augmented with load-factor command and the lateral motion controller, which is inherently of MIMO type, features a roll rate command with attitude hold behavior. The control laws are validated in flight by the pilot with respect to functionality, flying and handling qualities. Furthermore, auto generated input signals are used to excite the aircraft without pilot in the loop to allow for a comparability with simulation results.

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Section: A Test Aircraft and Control Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Flight Testing a Linear Parameter Varying Control Law on a Passenger Aircraft

Weiser

Ossmann

Kuchar

et al. 2020

AIAA Scitech 2020 Forum

Self Cite

View full text Add to dashboard Cite

show abstract

“…Researchers have conducted a lot of research on attitude control of UAVs and UUVs, and have proposed many typical control strategies and methods, such as PID control [20] , sliding mode control [17] , feedback linearization control [21,22] , and backstepping control [23] , etc. For the UAUV, its special task may need to control the attitude and height at the same time, so as to realize the hover of Altitude Hold and Attitude Hold, such as underwater detection, search and rescue, underwater live broadcast and so on.…”

Section: Figure 1 the Concept (Left) And The Proof-of-concept (Rightmentioning

confidence: 99%

Attitude and Altitude Control of Unmanned Aerial-Underwater Vehicle Based on Incremental Nonlinear Dynamic Inversion

Chen

Liu

et al. 2020

IEEE Access

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A vehicle able to navigate both in the air and underwater is referred to an unmanned aerialunderwater vehicle (UAUV). In this paper, the attitude and altitude control of UAUV with a quadrotor configuration during underwater navigation is studied theoretically, and an incremental dynamic inverse control (INDI) method with second-order low-pass filters is employed in the control system. Based on the underwater motion model of an UAUV and the incremental attitude and altitude control model, the relationship between thrust increment and vertical and angular acceleration increment is obtained through Taylor series expansion and angular acceleration feedback. Subsequently, attitude and altitude controllers based on nonlinear dynamic inversion (NDI) and INDI are designed and their robustness is analyzed. By introducing second-order low-pass filters at the part of control and feedback, the accuracy of the angular acceleration estimation is improved and the time synchronization of the control system is ensured. Simulation results demonstrated that when introducing external disturbances and uncertainties, the INDI control with second-order low-pass filters proposed in this paper can track the reference signal faster and more accurately than the NDI control. INDEX TERMS Unmanned aerial-underwater vehicle (UAUV), incremental nonlinear dynamic inversion (INDI), attitude control, nonlinear dynamics, low-pass filter

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“…13, the command module translates the stick signal to the reference signals needed for the LPV inner loop. The described control system setup has been tested in previous experiments on the Citation aircraft [8,11,20] and has been reused in the shown flight tests. Additionally, an attitude hold option via an outer loop can be activated to the lateral LPV inner loop control system.…”

Section: Test Aircraft and Control Systemmentioning

confidence: 99%

Design and flight test of a linear parameter varying flight controller

2020

Self Cite

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Future aircraft generations require improved performance and efficiency to enable a reduced environmental footprint. To acquire this goal, for example new material and wing concepts are perused at the moment by the aircraft industry. These developments, which include aspects such as over-actuation and lowly damped flexible modes, give rise to more complex, multi-objective control problems. One candidate method, which delivers a solution to these problems for the whole flight envelope, is linear parameter varying (LPV) control. It naturally incorporates the controller scheduling in the synthesis process, guarantees stability and robustness over the entire parameter envelope, and enables intuitive multi-objective, multiple-input multiple-output (MIMO) controller designs. This paper proves the concept of LPV control in practice: The paper presents and discusses the LPV controller design process, simulation results, motion simulator test and finally, the in-flight validation of the control system on a Cessna Citation II aircraft. The developed inner loop controller structures are inspired by classical flight controllers used on state-of-the-art fly-by-wire airliners. The longitudinal aircraft motion is augmented with load-factor command and the lateral motion controller features a roll rate command with attitude hold behavior. The control laws are validated in flight by automated and actual pilot inputs with respect to functionality, flying and handling qualities. Test results are encouraging with the provided key findings and lessons learned aiming to provide a simplification for future LPV flight controller development and testing campaigns.

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Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Cited by 29 publications

References 18 publications

Flight Testing a Linear Parameter Varying Control Law on a Passenger Aircraft

Flight Testing a Linear Parameter Varying Control Law on a Passenger Aircraft

Attitude and Altitude Control of Unmanned Aerial-Underwater Vehicle Based on Incremental Nonlinear Dynamic Inversion

Design and flight test of a linear parameter varying flight controller

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