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

飞行控制系统多为内部增稳系统（控制）和外部轨迹跟踪控制（制导）的级联结构。本文设计了轨迹规划和控制算法，使其能够在稳定对象的性质与设计过程中所假设的一致的情况下完成控制任务。在故障和损坏的情况下，植物降解，因此：——植物动力学不对应了植物在控制设计和内部控制回路可以因此只有稳定系统如果损坏的数量是在其范围内的退化系统的鲁棒性,安全飞行包线变换的一个未知的子集名义植物安全飞行包线——的闭环性能退化与基线控制植物是不同的(或通常是未知的)对底层模型的轨迹因此，我们提出：-识别退化系统的剩余动力学及其安全飞行包线-使内部控制回路的期望动力学适应于剩余的设备能力-通过自适应控制实际达到期望动力学-实时地执行路径规划，并保证收敛基于规划方法的主要创新之处在于借助物理动机分离问题。非线性参考模型分为两个子任务：-参考模型自适应基于识别动力学和参考跟踪的自适应控制系统（飞行系统动力学研究所）-非线性模型预测控制（NMPC）在线轨迹规划保证可行性和周期时间（自动控制研究所）自适应控制系统主要处理旋转和姿态动力学，而NMPC方法分配给平移和位置动力学。在研究项目的过程中，应考虑到航空相关的制约因素。最值得注意的是，保证性能的正式证明是非常重要的。该创新方法的实际可行性将通过六旋翼飞行系统（hexacopter）进行验证。

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).