Trajectory tracking of tail-sitter aircraft by  $ {\cal{L}}_1$  adaptive fault tolerant control

doi:10.23919/JSEE.2021.000125

Journal of Systems Engineering and Electronics ›› 2021, Vol. 32 ›› Issue (6): 1477-1489.doi: 10.23919/JSEE.2021.000125

收稿日期:2020-07-06 出版日期:2022-01-05 发布日期:2022-01-05

Trajectory tracking of tail-sitter aircraft by $ {\cal{L}}_1$ adaptive fault tolerant control

Zhaoying LI(), Shuai SHI(), Hao LIU*()

¹ School of Astronautics, Beihang University, Beijing 100191, China

Received:2020-07-06 Online:2022-01-05 Published:2022-01-05
Contact: Hao LIU E-mail:Lizhaoying@buaa.edu.cn;hongbaoshi0880@163.com;Liuhao13@buaa.edu.cn
About author:|LI Zhaoying was born in 1983. She received her B.E. and M.E. degrees in guidance navigation and control from Beihang University, Beijing, China, in 2005, Ph.D. degree in spacecraft design from Beihang University, Beijing, China, in 2011. Since 2011, she has been with the School of Astronautics, Beihang University, Beijing, China, where she is currently an assistant professor. Her research interests include hypervelocity flight vehicle control, unmanned aerial vehicle control, and intelligent path planning. E-mail: Lizhaoying@buaa.edu.cn||SHI Shuai was born in 1996. She received her B.E. and M.S. degrees is in guidance navigation and control from Beihang University, Beijing, China, in 2014 and 2020, respectively. Her research interests include fault tolerant control theory, unmanned tail-sitter aircrafts control, and hypersonic flight vehicle control. E-mail: hongbaoshi0880@163.com||LIU Hao was born in 1985. He received his B.E. degree in control science and engineering from Northwestern Polytechnical University, Xi’an, China, in 2008, Ph.D. degree in automatic control from Tsinghua University, Beijing, China, in 2013. Since 2013, he has been with the School of Astronautics, Beihang University, Beijing, China, where he is currently an associate professor. From 2017 to 2018, he was a visiting scholar at University of Texas at Arlington Research Institute, Fort Worth, USA. He received the best paper award on IEEE ICCA 2018. His research interests include formation control, reinforcement learning, robust control, nonlinear control, unmanned aerial vehicles, unmanned underwater vehicles, and multiagent systems. E-mail: Liuhao13@buaa.edu.cn
Supported by:
This work was supported by the National Natural Science Foundation of China (61873012)

摘要/Abstract

Abstract:

This paper proposes an $ {\cal{L}}_1$ adaptive fault tolerant control method for trajectory tracking of tail-sitter aircraft in the state of motor loss fault. The tail-sitter model considers the uncertainties produced by the features of nonlinearities and couplings which cause difficulties in control. An $ {\cal{L}}_1$ adaptive controller is designed to reduce the position and attitude error when actuators have faults. A reference trajectory containing large maneuver flight transitions is designed, which makes it even harder for the $ {\cal{L}}_1$ controller to track accurately. Compensators are designed to assist $ {\cal{L}}_1$ adaptive controller tracking of the reference trajectory. The stability of the $ {\cal{L}}_1$ adaptive controller including compensators is proved. Finally, the simulation results are used to analyse the effectiveness of the proposed controller. Compared to the ${H_\infty }$ controller, the $ {\cal{L}}_1$ adaptive controller with compensators has better performance in position control and attitude control under fault tolerance state even when the aircraft conducts large maneuver. Besides, as the $ {\cal{L}}_1$ adaptive control method separates feedback control and adaptive law design, the response speed of the whole system is improved.

Key words: tail-sitter aircraft, fault tolerance, trajectory tracking, $ {\cal{L}}_1$ adaptive controller

. [J]. Journal of Systems Engineering and Electronics, 2021, 32(6): 1477-1489.

Zhaoying LI, Shuai SHI, Hao LIU. Trajectory tracking of tail-sitter aircraft by $ {\cal{L}}_1$ adaptive fault tolerant control[J]. Journal of Systems Engineering and Electronics, 2021, 32(6): 1477-1489.

图/表 21

参考文献 26

1	MADEMLIS I, MYGDALIS V, NIKOLAIDIS N Challenges in autonomous UAV cinematography: an overview. Proc. of the IEEE International Conference on Multimedia and Expo, 2018, 1- 6.
2	CHAKARESKI J, NAQVI S, MASTRONARDE N, et al An energy efficient framework for UAV-assisted millimeter wave 5G heterogeneous cellular networks. IEEE Trans. on Green Communications and Networking, 2019, 3 (1): 37- 44. doi: 10.1109/TGCN.2019.2892141
3	YAPP J, SEKER R, BABICEANU R UAV as a service: enabling on-demand access and on-the-fly re-tasking of multitenant UAVs using cloud services. Proc. of the IEEE/AIAA 35th Digital Avionics Systems Conference, 2016, 1- 8.
4	TAJDINI M M, GONZALEZ-VALDES B, MARTINEZ-LORENZO J A, et al Efficient 3D forward modeling of GPR scattering from rough ground. Proc. of the IEEE International Symposium on Antennas & Propagation & USNC/URSI National Radio Science Meeting, 2015, 1686- 1687.
5	STONE R H Areodynamic modeling of wing-propeller interaction for a tail-sitter unmanned air vehicle. Proc. of the Biennial International Powered Lift Conference and Exhibit, 2008, 45 (1): 198- 210.
6	KIM D A trajectory tracking control law for a quadrotor with slung load. Automatic, 2019, 106, 384- 389. doi: 10.1016/j.automatica.2019.04.030
7	DAISUKE K, SHINJI S Tail-sitter vertical takeoff and landing unmanned aerial vehicle: transitional flight analysis. Journal of Aircraft, 2008, 45 (1): 292- 297. doi: 10.2514/1.30122
8	SAGHAFI F, BANAZADEH A Investigation on the flight characteristics of a conceptual fluidic thrust-vectored aerial tailsitter. Proceedings of the Institution of Mechanical Engineers Part G—Journal of Aerospace Endinering, 2007, 221 (G5): 741- 755.
9	WANG X H, CHEN Z X, YUAN Z Z Modeling and control of an agile tail-sitter aircraft. Journal of the Franklin Institution Engineering and Applied Mathematics, 2015, 352 (12): 5437- 5472. doi: 10.1016/j.jfranklin.2015.09.012
10	BLIODEAU P, WONG F Modeling and control of a hovering mini tail-sitter. International Journal of Micro Air Vehicles, 2010, 2 (4): 211- 220. doi: 10.1260/1756-8293.2.4.211
11	LIU H, HOU X L, KIM J, et al Decoupled robust velocity control for uncertain quadrotors. Asian Journal of Control, 2015, 17 (1): 225- 233. doi: 10.1002/asjc.873
12	LIU D Y, LIU H Robust attitude control for tail-sitter unmanned aerial vehicles in flight mode transitions. International Journal of Robust and Nonlinear Control, 2019, 29 (4): 1132- 1149. doi: 10.1002/rnc.4428
13	LI Z Y, ZHOU W J, LIU H, et al Nonlinear robust flight mode transition control for tail-sitter aircraft. IEEE Access, 2018, 6, 65909- 65921. doi: 10.1109/ACCESS.2018.2878722
14	LIU D Y, LIU H, LI Z Y Robust trajectory tracking control for tail-sitter UAVs. Proc. of the Chinese Control Conference, 2018, 2538- 2542.
15	LIU H, PENG F C, LEWIS F L, et al Robust tracking control for tail-sitters in flight mode transitions. IEEE Trans. on Aerospace and Electronic Systems, 2019, 55 (4): 2023- 2035. doi: 10.1109/TAES.2018.2880888
16	AHMED T H, SIDNEY N G, SHAHRAM Y Unmanned aerial vehicles formation using learning based model predictive controll. Asian Journal of Control, 2018, 20 (3): 1014- 1026. doi: 10.1002/asjc.1774
17	THU K Designing and modeling of quadcopter control system using L₁ adaptive control . Proc. of the International Symposium on Intelligent Systems, 2017, 103, 528- 535.
18	ZUO Z Y, RU P K Augmented L₁ adaptive tracking control of quad-rotor unmanned aircrafts . IEEE Trans. on Aerospace and Electronic Systems, 2014, 50 (4): 3090- 3101. doi: 10.1109/TAES.2014.120705
19	XU D, WHIDBORNE J F, COOKE A K Fault tolerant control of a quadrotor using L₁ adaptive control . International Journal of Intelligent Unmanned Systems, 2016, 4 (1): 43- 66. doi: 10.1108/IJIUS-08-2015-0011
20	LI M, ZUO Z Y, LIU H Adaptive fault tolerant control for trajectory tracking of a quadrotor helicopter. Transactions of the Institute of Measurement and Control, 2018, 40 (12): 3560- 3569. doi: 10.1177/0142331217728568
21	MO H, FARID G Nonlinear and adaptive intelligent control techniques for quadrotor UAV—a survey. Asian Journal of Control, 2019, 21 (2): 989- 1008. doi: 10.1002/asjc.1758
22	HUA B, CHEN L, WU Y H, et al A study of PID and L1 adaptive control for automatic balancing of spacecraft three-axis simulator. International Journal of Intelligent Computing and Cybernetics, 2018, 11 (2): 269- 284. doi: 10.1108/IJICC-07-2017-0084
23	TAN J, FAN Y H, YAN P P, et al Sliding mode fault tolerant control for unmanned aerial vehicle with sensor and actuator faults. Sensors, 2019, 19 (3): 643. doi: 10.3390/s19030643
24	BENEDETTI M, DURSO F, FORTINO G A fault-tolerant self-organizing flocking approach for UAV aerial survey. Journal of Network and Computer Applications, 2017, 96, 14- 30. doi: 10.1016/j.jnca.2017.08.004
25	HOVAKIMYAN N, CAO C Y L₁ adaptive control theory . Philadelphia: Society for Industrial and Applied Mathematics, 2010.
26	LI Z Y, ZHANG L X, LIU H Nonlinear robust control of tail-sitter aircrafts in flight mode transitions. Aerospace Science and Technology, 2018, 81, 348- 361. doi: 10.1016/j.ast.2018.08.021

Number	c₁	c₂	c₃	c₄
1	0.0167	?0.0011	0.0097	0.0002557
2	?0.4249	0.1282	?0.3050	?0.0403
3	3.4834	?6.0742	3.4393	2.5215
4	?7.6921	139.3596	?15.4551	?77.6900
5	5.2976	?1521.2	10.6051	1167
6	?0.6466	6524.1	?2.3586	?6876.5

Trajectory tracking of tail-sitter aircraft by $ {\cal{L}}_1$ adaptive fault tolerant control

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 21

参考文献 26

相关文章 0

编辑推荐

Metrics

本文评价