Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） ...Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality（LMI）, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded（UUB） predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.展开更多
A new scheme of adaptive control is proposed for a class of linear time-invariant（ LTI） dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and c...A new scheme of adaptive control is proposed for a class of linear time-invariant（ LTI） dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and conventional direct model reference adaptive control scheme,various modifications have been employed to achieve the goal. ＂C omposite model reference adaptive control＂of higher performance is seam-lessly combined with ＂positive μ-mod＂,which consequently results in a smooth tracking trajectory despite of the input constraints. In addition,bounded-gain forgetting is utilized to facilitate faster convergence of parameter estimates. The stability of the closed-loop systemcan be guaranteed by using Lyapunov theory.The merits and effectiveness of the proposed method are illustrated by a numerical example of the longitudinal dynamical systems of a fixed-wing airplane.展开更多
Some of the most interesting areas in aerospace science and technologies are on either higher,faster,and larger systems or lower,slower,and smaller flying capabilities.In this paper,we present our perspectives on the ...Some of the most interesting areas in aerospace science and technologies are on either higher,faster,and larger systems or lower,slower,and smaller flying capabilities.In this paper,we present our perspectives on the aerodynamics related to small,fixed-wing as well as flapping-wing flight vehicles.From an evolutionary viewpoint,flyers have gone through many iterations,adaptations,and optimizations to balance their biological functions,including flight.In the low-Reynolds-number regime,the aerodynamic characteristics around a solid object differ from those observed at the scale of passenger-airplanes.Consequently,the optimal airfoil and wing shapes vary with vehicle size.As vehicle dimensions vary,non-proportional scaling between surface areas and weight shifts the dominance of physical mechanisms,leading to distinct operational parameters and technical requirements.With smaller flight vehicles,structural flexibility as well as anisotropic material properties become more pronounced,which causes qualitative changes in aerodynamics.The flapping motion of the wings,the interactions between wings,the synergistic characteristics of wing and tail,and the development of soft structures for better agility and flight performance are discussed.Low-Reynolds-number aerodynamics require collaborative innovation to optimize shape,motion,and structure of vehicles in accordance with the scaling laws.Together,progress on these fronts is reshaping the design paradigm of air vehicles and other types of robots with shrinking physical dimensions and more versatile capabilities to meet wider ranges of missions.展开更多
文摘Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality（LMI）, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded（UUB） predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.
基金Supported by Deep Exploration Technology and Experimentation Project(201311194-04)
文摘A new scheme of adaptive control is proposed for a class of linear time-invariant（ LTI） dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and conventional direct model reference adaptive control scheme,various modifications have been employed to achieve the goal. ＂C omposite model reference adaptive control＂of higher performance is seam-lessly combined with ＂positive μ-mod＂,which consequently results in a smooth tracking trajectory despite of the input constraints. In addition,bounded-gain forgetting is utilized to facilitate faster convergence of parameter estimates. The stability of the closed-loop systemcan be guaranteed by using Lyapunov theory.The merits and effectiveness of the proposed method are illustrated by a numerical example of the longitudinal dynamical systems of a fixed-wing airplane.
基金supported by the Research Grants Council(RGC)of the Government of Hong Kong Special Administrative Region(HKSAR)with RGC/GRF Project(Grant Nos.16206321 and 14113824).
文摘Some of the most interesting areas in aerospace science and technologies are on either higher,faster,and larger systems or lower,slower,and smaller flying capabilities.In this paper,we present our perspectives on the aerodynamics related to small,fixed-wing as well as flapping-wing flight vehicles.From an evolutionary viewpoint,flyers have gone through many iterations,adaptations,and optimizations to balance their biological functions,including flight.In the low-Reynolds-number regime,the aerodynamic characteristics around a solid object differ from those observed at the scale of passenger-airplanes.Consequently,the optimal airfoil and wing shapes vary with vehicle size.As vehicle dimensions vary,non-proportional scaling between surface areas and weight shifts the dominance of physical mechanisms,leading to distinct operational parameters and technical requirements.With smaller flight vehicles,structural flexibility as well as anisotropic material properties become more pronounced,which causes qualitative changes in aerodynamics.The flapping motion of the wings,the interactions between wings,the synergistic characteristics of wing and tail,and the development of soft structures for better agility and flight performance are discussed.Low-Reynolds-number aerodynamics require collaborative innovation to optimize shape,motion,and structure of vehicles in accordance with the scaling laws.Together,progress on these fronts is reshaping the design paradigm of air vehicles and other types of robots with shrinking physical dimensions and more versatile capabilities to meet wider ranges of missions.
