Design of an Adaptive Controller for a Remotely Operated Air Vehicle

作者：Crespo Luis G^*; Matsutani Megumi; Annaswamy Anuradha M

来源：Journal of Guidance, Control, and Dynamics, 2012, 35(2): 406-422.

DOI：10.2514/1.54779

This paper presents an augmented control architecture for safe flight. This architecture consists of a nominal controller that provides satisfactory performance under nominal flying conditions and a direct model reference adaptive controller that provides robustness to parametric uncertainty. The design, implementation, tuning, and robustness analysis procedures of both the nominal and augmented controllers are presented. The aim of these procedures, which encompass both theoretical and practical considerations, is to develop a controller suitable for flight. The architecture proposed is applied to the NASA generic transport model. This is a model of a transport aircraft for which both a dynamically scaled flight-test article and a high-fidelity simulation are available. A robustness analysis framework, which bounds the set of adverse flying conditions for which all closed-loop requirements are met, indicates some advantages and drawbacks of adaptation. The adverse conditions considered are grouped into four categories: aerodynamic uncertainties, structural damage, unknown time delays, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine-out conditions. The requirements are fast pilot-command tracking, bounded structural loading, satisfactory transient response, bounded flight envelope, and satisfactory handling/riding qualities. A computational approach that integrates this robustness analysis framework and a design-optimization technique is proposed. This approach enables the systematic search for the controller's parameters that yield the best robustness characteristics allowed by the control structure.

• 出版日期2012-4