Adaptive Stability Augmentation and Model Predictive Trajectory Tracking Control for Flight Systems

飞行控制系统大多是由内增稳系统（控制）和外轨迹跟踪控制（制导）组成的级联结构。在这里，轨迹规划和控制算法的设计方式，他们可以完成控制任务，如果稳定的植物的属性是因为他们在设计过程中假设。在故障和损坏的情况下，设备会退化，因此：- 对象动态不再对应于控制设计中假设的对象，因此，如果损坏量位于其鲁棒性范围内，则内部控制回路只能稳定系统-退化系统的安全飞行包线转换为标称对象安全飞行包线的未知子集，采用基线控制的退化对象的闭环特性不同因此，建议：- 识别退化系统的剩余动态及其安全飞行包线-使内部控制回路的期望动态适应剩余设备能力-通过自适应控制实际达到期望动态，基于调整后的参考模型实时执行路径规划，并保证收敛-跟踪规划的随机性规划方法的主要创新特征是在物理激励的非线性参考模型的帮助下将问题分离为两个子任务：- 通过自适应控制系统基于所识别的动态和参考跟踪的参考模型自适应（飞行系统动力学研究所）-非线性模型预测控制（NMPC），用于在线轨迹规划，保证可行性和周期时间在这样做时，自适应控制系统主要处理旋转和姿态动态，而NMPC方法被分配给平移和位置动态。在研究项目的过程中，应考虑到航空相关的约束条件。最值得注意的是，保证性能的形式证明是非常重要的。这种创新方法的实际可行性将通过六旋翼飞行系统（六旋翼飞行器）来证明。

Flight control systems are mostly of cascaded structure with an inner stability augmentation system (control) and an outer trajectory tracking control (guidance). Herein, trajectory planning and control algorithms are designed in a way that they can fulfill the control task if the properties of the stabilized plant are as they were assumed in the design process. In the case of failure and damage, the plant degrades, so that: - the plants dynamics do not correspond anymore to the plant assumed in control design and the inner control loop can thus only stabilize the system if the amount of damage lies within its bounds of robustness - the safe flight envelope of the degraded system transforms to an unknown subset of the nominal plants safe flight envelope - the closed loop properties of the degraded plant with baseline control are different (or usually unknown) with respect to the underlying model of the trajectory control in a way that the desired trajectory is not achievable for the system at all or the trajectory controller cannot fulfill its taskIt is therefore proposed to:- identify the residual dynamics of the degraded system and its safe flight envelope - adapt the desired dynamics of the inner control loop to the remaining plant capabilities - actually reach the desired dynamics by means of adaptive control- perform the path planning in real-time and with guaranteed convergence based on the adjusted reference model - track the planned trajectoryThe main innovative feature of the planned approach is the problem separation with the help of physically motivated, nonlinear reference models into two subtasks:- Reference model adaption based on the identified dynamics and reference tracking by an adaptive control system (Institute of Flight System Dynamics) - Nonlinear model predictive control (NMPC) for online trajectory planning with guaranteed feasibility and cycle time (Institute of Automatic Control)In doing so, the adaptive control system handles mainly the rotation and attitude dynamics while the NMPC approach is allocated to translation and position dynamics. In the process of the research project it shall be accounted for aviation relevant constraints. Most notably, the formal prove of guaranteed performance is of high importance. The innovative approach's practical viability will be demonstrated with a six-rotor flight system (hexacopter).