Autonomous Safety Control of Flight Vehicles

221 Pages·2021·23.563 MB·English

by  Xiang Yu, Lei Guo, Youmin Zhang, Jin Jiang

Autonomous Safety
Control of Flight
Vehicles

Autonomous Safety
Control of Flight
Vehicles
Xiang Yu
Lei Guo
Youmin Zhang
Jin Jiang
First edition published 2021
by CRC Press
6000 Broken Sound Parkway NW, Suite 300, Boca Raton, FL 33487-2742
and by CRC Press
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© 2021 Xiang Yu, Lei Guo, Youmin Zhang and Jin Jiang
CRC Press is an imprint of Taylor & Francis Group, LLC
The right of Xiang Yu, Lei Guo, Youmin Zhang and Jin Jiang to be identified as authors of this work has been as-
serted by them in accordance with sections 77 and 78 of the Copyright, Designs and Patents Act 1988.
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Library of Congress Cataloging-in-Publication Data
Names: Yu, Xiang, 1981- author.
Title: Autonomous safety control of flight vehicles / Xiang Yu, Lei Guo,
Youmin Zhang, Jin Jiang.
Description: First edition. | Boca Raton, FL : CRC Press, an imprint of
Taylor & Francis Group, 2021. | Includes bibliographical references. |
Summary: “Aerospace vehicles are regarded as one classical type of
safety-critical systems. By virtue of a safety control system, the
aerospace vehicle can maintain high performance despite of component
malfunctions and multiple disturbances, thereby enhancing the aircraft
safety and mission success probability. This book presents a systematic
methodology for improving the safety of aerospace vehicles in such
aspects: the loss of control effectiveness of actuators and control
surface impairments, disturbance observer-based control to against
multiple disturbances, actuator faults and model uncertainties in
hypersonic gliding vehicles, and faults composed by actuators faults and
sensor faults. Several fundamental issues related to safety are
explicitly analyzed according to aerospace engineering system
characteristics. Focusing on the safety issues, the safety control
design problems of aircraft are studied and elaborated in detail by
using systematic design methods. The research results illustrate the
superiority of the presented safety control approaches. The expected
reader group for this book is undergraduate and graduate students but
also industry practitioners and researchers”-- Provided by publisher.
Identifiers: LCCN 2020040179 (print) | LCCN 2020040180 (ebook) | ISBN
9780367701154 (hardcover) | ISBN 9781003144922 (ebook)
Subjects: LCSH: Airplanes--Automatic control--Safety measures. | Flight control.
Classification: LCC TL589.4 .Y79 2021 (print) | LCC TL589.4 (ebook) | DDC 629.132/6--dc23
LC record available at https://lccn.loc.gov/2020040179
LC ebook record available at https://lccn.loc.gov/2020040180
ISBN: 978-0-367-70115-4 (hbk)
ISBN: 978-1-003-14492-2 (ebk)
To our families

Contents
Preface xi
List of Figures xv
List of Tables xix
1 The Development of Safety Control Systems 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Philosophical Distinctions between Active and Passive FTCSs 3
1.2.1 Architecture and Philosophy of an Active FTCS . . . 3
1.2.2 Architecture and Philosophy of a Passive FTCS. . . . 5
1.2.3 Summary of FTCS . . . . . . . . . . . . . . . . . . . . 6
1.2.3.1 Advantages of an Active FTCS . . . . . . . 7
1.2.3.2 Limitations of an Active FTCS . . . . . . . . 8
1.2.3.3 Advantages of a Passive FTCS . . . . . . . . 9
1.2.3.4 Limitations of a Passive FTCS . . . . . . . . 9
1.3 Basic Concept and Classification of Anti-Disturbance Control
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Safety-Critical Issues of Aerospace Vehicles . . . . . . . . . . 11
1.4.1 Safety Bounds . . . . . . . . . . . . . . . . . . . . . . 11
1.4.2 Limited Recovery Time . . . . . . . . . . . . . . . . . 11
1.4.3 Finite-Time Stabilization/Tracking . . . . . . . . . . . 11
1.4.4 Transient Management. . . . . . . . . . . . . . . . . . 12
1.4.5 Composite Faults and Disturbances . . . . . . . . . . 12
1.5 Book Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2 Hybrid Fault-Tolerant Control System Design against Actu-
ator Failures 15
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Modeling of Actuator Faults through Control Effectiveness . 17
2.2.1 Function of Actuators in an Aircraft . . . . . . . . . . 17
2.2.2 Analysis of Faults in Hydraulic Driven Control Surfaces 17
2.2.3 Modeling of Faults in Multiple Actuators . . . . . . . 20
2.3 Objectives and Formulation of Hybrid FTCS . . . . . . . . . 21
2.4 Design of the Hybrid FTCS . . . . . . . . . . . . . . . . . . . 24
2.4.1 Passive FTCS Design Procedure . . . . . . . . . . . . 25
vii
viii Contents
2.4.2 Reconfigurable Controller Design Procedure . . . . . . 30
2.4.3 Switching Function among Different Controllers. . . . 31
2.5 Numerical Case Studies . . . . . . . . . . . . . . . . . . . . . 32
2.5.1 Description of the Aircraft. . . . . . . . . . . . . . . . 32
2.5.2 Performance Evaluation under the Passive FTCS . . . 33
2.5.3 Performance Evaluation under Reconfigurable Con-
troller . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.5.4 Nonlinear Simulation of the Hybrid FTCS . . . . . . . 36
2.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.7 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3 Safety Control System Design against Control Surface Im-
pairments 41
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.2 Aircraft Model with Redundant Control Surfaces . . . . . . . 42
3.2.1 Nonlinear Aircraft Model . . . . . . . . . . . . . . . . 43
3.2.2 Actuator Dynamics. . . . . . . . . . . . . . . . . . . . 44
3.2.3 Linearized Aircraft Model with Consideration of Faults 45
3.3 Redundancy Analysis and Problem Formulation . . . . . . . 46
3.3.1 Redundancy Analysis . . . . . . . . . . . . . . . . . . 47
3.3.2 Problem Statement . . . . . . . . . . . . . . . . . . . . 47
3.4 FTCS Design . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.4.1 FTC Design via State Feedback. . . . . . . . . . . . . 52
3.4.2 FTC via Static Output Feedback . . . . . . . . . . . . 53
3.5 Illustrative Examples . . . . . . . . . . . . . . . . . . . . . . 54
3.5.1 Example 1 (State Feedback Case) . . . . . . . . . . . 56
3.5.2 Example 2 (Static Output Feedback Case). . . . . . . 58
3.5.3 Sensitivity Analysis . . . . . . . . . . . . . . . . . . . 62
3.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.7 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4 Multiple Observers Based Anti-Disturbance Control for a
Quadrotor UAV 65
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2 Quadrotor Dynamics with Multiple Disturbances . . . . . . . 67
4.2.1 Quadrotor Dynamic Model . . . . . . . . . . . . . . . 67
4.2.2 The Analysis of Disturbances . . . . . . . . . . . . . . 70
4.3 Design of Multiple Observers Based Anti-Disturbance Control 72
4.3.1 Control for Translational Dynamics . . . . . . . . . . 72
4.3.1.1 DO Design . . . . . . . . . . . . . . . . . . . 73
4.3.1.2 ESO Design . . . . . . . . . . . . . . . . . . 73
4.3.2 Control for Rotational Dynamics . . . . . . . . . . . . 74
4.3.3 Stability Analysis. . . . . . . . . . . . . . . . . . . . . 75
4.3.3.1 Position Loop . . . . . . . . . . . . . . . . . 75
4.3.3.2 Attitude Loop . . . . . . . . . . . . . . . . . 77
Contents ix
4.4 Flight Experimental Results . . . . . . . . . . . . . . . . . . 78
4.4.1 Flying Arena and System Configuration . . . . . . . . 79
4.4.2 Quadcopter Flight Scenarios . . . . . . . . . . . . . . 80
4.4.2.1 Test 1 . . . . . . . . . . . . . . . . . . . . . . 80
4.4.2.2 Test 2 . . . . . . . . . . . . . . . . . . . . . . 82
4.4.2.3 Test 3 . . . . . . . . . . . . . . . . . . . . . . 82
4.4.2.4 Test 4 . . . . . . . . . . . . . . . . . . . . . . 82
4.4.3 Assessment . . . . . . . . . . . . . . . . . . . . . . . . 86
4.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
4.6 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5 Safety Control System Design of HGV Based on Adaptive
TSMC 89
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.2 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
5.3 Mathematical Model of a HGV . . . . . . . . . . . . . . . . . 92
5.3.1 Nonlinear HGV Model . . . . . . . . . . . . . . . . . . 92
5.3.2 Actuator Fault Model . . . . . . . . . . . . . . . . . . 94
5.3.3 Problem Statement . . . . . . . . . . . . . . . . . . . . 94
5.4 Control-Oriented Model . . . . . . . . . . . . . . . . . . . . . 95
5.5 Safety Control System Design of a HGV against Faults and
Uncertainties . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
5.5.1 Multivariable TSMC . . . . . . . . . . . . . . . . . . . 99
5.5.2 SafetyControlSystemBasedonAdaptiveMultivariable
TSMC Technique . . . . . . . . . . . . . . . . . . . . . 104
5.6 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . 107
5.6.1 HGV Flight Condition and Simulation Scenarios . . . 107
5.6.2 Simulation Analysis of Scenario I . . . . . . . . . . . . 109
5.6.3 Simulation Analysis of Scenario II . . . . . . . . . . . 109
5.7 Concluding Remarks . . . . . . . . . . . . . . . . . . . . . . 111
5.8 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6 Safety Control System Design of HGV Based on Fixed-Time
Observer 117
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
6.2 HGV Modeling and Problem Statement . . . . . . . . . . . . 118
6.2.1 HGV Dynamics . . . . . . . . . . . . . . . . . . . . . . 118
6.2.2 Control-OrientedModelSubjecttoActuatorFaultsand
Uncertainties . . . . . . . . . . . . . . . . . . . . . . . 120
6.2.3 Problem Statement . . . . . . . . . . . . . . . . . . . . 123
6.3 Fixed-Time Observer . . . . . . . . . . . . . . . . . . . . . . 124
6.3.1 AnOverviewoftheDevelopedObserverandAccommo-
dation Architecture . . . . . . . . . . . . . . . . . . . 124
6.3.2 Fixed-Time Observer. . . . . . . . . . . . . . . . . . . 124
6.4 Finite-Time Accommodation Design . . . . . . . . . . . . . . 126