A robust aircraft control approach in the presence of wind using viability theory
A robust aircraft control approach in the presence of wind using viability theory
复制标题
使用生存理论的有风情况下稳健的飞机控制方法
DOI：
10.1109/anzcc.2017.8298503
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
F. Holzapfel
中科院分区：
文献类型：
--
作者：
J. Diepolder;P. Piprek;N. Botkin;V. Turova;F. Holzapfel
本文提出了一种将生存能力核应用于飞机在风扰动情况下的控制概念。使用网格近似计算了具有状态约束的适当冲突控制问题的生存能力(领导力)核。在这个微分对策公式中，第一个玩家用飞机控制来表示，第二个玩家用风扰动来表示。生存能力核代表了状态空间中的一个子集，在这个子集中，即使对手使用任何可接受的控制，飞机也可以保持任意长时间。由于网格解的维度灾变，生存核的计算仅限于低维状态空间，这对其在飞行器控制中的应用提出了挑战。在该方法中，生存核是在平移动力学和姿态运动学的状态空间中计算的。这将生存能力核的维度降低到网格计算机可以处理的六维状态空间。然后，基于非线性动态逆(NDI)控制结构的内环控制器跟踪来自生存核解的轨迹。使用简化的A300飞机模型说明了该方法，用于在有风的情况下进行巡航飞行。
This paper presents a control concept for the application of viability kernels for aircraft control in the presence of wind disturbances. The viability (leadership) kernel of an appropriate conflict control problem with state constraints is computed using a grid approximation. In this differential game formulation, the first player is represented by the aircraft controls and the second player by the wind disturbances. The viability kernel represents a subset in the state space, in which the aircraft can be held arbitrarily long even if the opposing player uses any admissible control. Due to the curse of dimensionality in the grid solution, the computation of the viability kernel is restricted to low dimensional state spaces, which poses a challenge for the application in aircraft control. In our approach, the viability kernel is computed in the state space of the translational dynamics and the attitude kinematics. This reduces the dimensionality of the viability kernel to a six dimensional state space that can be handled by grid computers. The trajectory from the viability kernel solution is then tracked by the inner-loop controller based on a nonlinear dynamic inversion (NDI) control structure. The approach is illustrated using a simplified A300 aircraft model for cruise flight in the presence of wind.