Lateral Control for Ultra-low Altitude Airdrop Based on the L1 Adaptive Control Augmentation

Regular Paper Control Theory and Applications
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Abstract

This paper presents a novel controller based on the L1 adaptive control to enhance the flight safety in the airdrop mission. An optimal controller produces the state feedback control signals, while a matched reference model is determined. First, we transform the system nonlinearity into the matched and unmatched uncertainty of the L1 control system. Then, leveraging the advantages of the outer loop PID controllers in the lateral deviation, we design the lateral flight control system. Simulation results reveal that the controllers present strong robustness, high adaptive gain, and suppress the undesirable high frequency dynamics.

Keywords

Crosswind L1 adaptive controller robustness ultra-low altitude airdrop 

Abbreviations

ULAA

Ultra-low altitude airdrop

g

Acceleration due to gravity

H

Altitude of the aircraft

Ix, Iz

Roll and yaw principle moments of inertia

Ixz

Component xz of moment of inertia matrix

\({L_{{\beta _W}}}\)

Coefficient of β w to the rolling moment

Lr

Coefficient of r to the rolling moment

Lp

Coefficient of p to the rolling moment

\({L_{{\delta _{\text{r}}}}}\)

Coefficient of δ r to the rolling moment

\({L_{{\delta _a}}}\)

Coefficient of δ a to the rolling moment

\({N_{{\beta _w}}}\)

Coefficient of β w to the yawing moment

mc

Mass of the cargo

mb

Mass of the aircraft

m

Mass of the sum of aircraft and cargo

Nr

Coefficient of r to the yawing moment

Np

Coefficient of p to the yawing moment

\({N_{{\delta _r}}}\)

Coefficient of δ r to the yawing moment

\({N_{{\delta _a}}}\)

Coefficient of δ a to the yawing moment

p

Roll rate

r

Yaw rate

rcb

Position of cargo respect to the center of mass

cb

Cargo’s slide speed

tr

Instance of the cargo start moving

Δtr

Total time of the cargo movement

V

Airspeed

Vw

Velocity of the crosswind

y

Lateral deviation

\({Y_{{\beta _w}}}\)

Coefficient of β w to the side force

Yr

Coefficient of r to the side force

Yp

Coefficient of p to the side force

\({Y_{{\delta _r}}}\)

Coefficient of δ r to the side force

α0

Trimming attack angle

β

Drift angle

βw

Sideslip

ϕ

Roll angle

ψ

Yaw angle

θ0

Trimming pitch angle

δa

Aileron deflection

δr

Rudder deflection

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Jinyong Chang
    • 1
  • Jiahai Zhu
    • 1
  • Ri Liu
    • 2
  • Wenhan Dong
    • 3
  1. 1.Aeronautics and Astronautics Engineering CollegeAir Force Engineering UniversityXianChina
  2. 2.Theory Training DepartmentHarbin Air Force Flight AcademyHarbinChina
  3. 3.Aeronautics and Astronautics Engineering CollegeAir Force Engineering UniversityXianChina

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