Adaptive, Neural and Robust Control of Wing-Rock and Aeroelastic System

Modern aircraft exhibit wing-rock phenomenon and aeroelastic instability. Wingrock (roll single degree of freedom motion) and aeroelastic systems\u27 (two degrees of freedom) behavior are described by complex nonlinear differential equations. The nonlinearities in the dynamics of these systems give rise to limit cycle oscillations beyond critical speed of aircraft. The onset of wing-rock and aeroelastic instability limits the performance of aircraft and can even lead to catastrophic consequences. Therefore, control of wing-rock motion and stabilization of aeroelastic systems are important. In the past, several studies have been made and experimental and analytical results have been obtained to explain the wing-rock and aeroelastic phenomena in wind-tunnel tests, and also control systems have been derived. Motivation for this research is the importance of flying aircraft in a large flight envelope in which complex uncertain aerodynamic nonlinearities appear, causing instabilities and flutter in the aircraft wings. For the control of wing-rock motion and the stabilization of aeroelastic instabilities, new control systems are designed. Because modeling of nonlinear dynamics of wing-rock motion and aeroelastic systems are imprecise, the control algorithms must be insensitive to model uncertainties. Apparently control theory for deterministic systems is not applicable to uncertain systems. For the stabilization of wing-rock, two non-certainity equivalent adaptive (NCEA) laws are designed. The first control system includes a finite form realization of a speed-gradient adaptation law, and the second controller is based on the Immersion and Invariance (I&I) theory. For the nonlinear multi-input multi-output (MIMO) aeroelastic systems, equipped with leading- and trailing-edge control surfaces, four distinct control systems are designed. First, a Chebyshev neural adaptive control law is derived for the suppression of limit cycle oscillations (LCOs) of the prototypical wing. For this derivation SDU decomposition of the high-frequency constant gain matrix is utilized for obtaining a singularity free controller. Then for a multi-input aeroelastic system with state dependent input matrix, a higher-order robust sliding mode control law for finite-time stabilization is derived. This is followed by the design of a suboptimal controller based on the state-dependent Riccati equation (SDRE) method. Finally, a suboptimal control law is designed for the control of the aerolelastic system, based dierential game theory. In this approach, the wind gust is treated as an adversary which tries to destabilize system. These control algorithms are simulated using MATLAB and SIMULINK to verify their performance. Results show that the designed controllers are effective in suppressing the limit cycle oscillations

Current status of computational methods for transonic unsteady aerodynamics and aeroelastic applications

The current status of computational methods for unsteady aerodynamics and aeroelasticity is reviewed. The key features of challenging aeroelastic applications are discussed in terms of the flowfield state: low-angle high speed flows and high-angle vortex-dominated flows. The critical role played by viscous effects in determining aeroelastic stability for conditions of incipient flow separation is stressed. The need for a variety of flow modeling tools, from linear formulations to implementations of the Navier-Stokes equations, is emphasized. Estimates of computer run times for flutter calculations using several computational methods are given. Applications of these methods for unsteady aerodynamic and transonic flutter calculations for airfoils, wings, and configurations are summarized. Finally, recommendations are made concerning future research directions

NASA Innovative Advanced Concepts (NIAC) Phase 1 Final Report: Venus Landsailer Zephyr

Imagine sailing across the hot plains of Venus! A design for a craft to do just this was completed by the COncurrent Multidisciplinary Preliminary Assessment of Space Systems (COMPASS) Team for the NASA Innovative Advanced Concepts (NIAC) project. The robotic craft could explore over 30 km of surface of Venus, driven by the power of the wind

Research and Technology

Langley Research Center is engaged in the basic an applied research necessary for the advancement of aeronautics and space flight, generating advanced concepts for the accomplishment of related national goals, and provding research advice, technological support, and assistance to other NASA installations, other government agencies, and industry. Highlights of major accomplishments and applications are presented

Adaptive Control By Regulation-Triggered Batch Least-Squares Estimation of Non-Observable Parameters

The paper extends a recently proposed indirect, certainty-equivalence, event-triggered adaptive control scheme to the case of non-observable parameters. The extension is achieved by using a novel Batch Least-Squares Identifier (BaLSI), which is activated at the times of the events. The BaLSI guarantees the finite-time asymptotic constancy of the parameter estimates and the fact that the trajectories of the closed-loop system follow the trajectories of the nominal closed-loop system ("nominal" in the sense of the asymptotic parameter estimate, not in the sense of the true unknown parameter). Thus, if the nominal feedback guarantees global asymptotic stability and local exponential stability, then unlike conventional adaptive control, the newly proposed event-triggered adaptive scheme guarantees global asymptotic regulation with a uniform exponential convergence rate. The developed adaptive scheme is tested to a well-known control problem: the state regulation of the wing-rock model. Comparisons with other adaptive schemes are provided for this particular problem.Comment: 29 pages, 12 figure

Design, Implementation and Testing of Advanced Control Laws for Fixed-wing UAVs

The present PhD thesis addresses the problem of the control of small fixed-wing Unmanned Aerial Vehicles (UAVs). In the scientific community much research is dedicated to the study of suitable control laws for this category of aircraft. This interest is motivated by the several applications that these platforms can perform and by their peculiarities as dynamical systems. In fact, small UAVs are characterized by highly nonlinear behavior, strong coupling between longitudinal and latero-directional planes, and high sensitivity to external disturbances and to parametric uncertainties. Furthermore, the challenge is increased by the limited space and weight available for the onboard electronics. The aim of this PhD thesis is to provide a valid confrontation among three different control techniques and to introduce an innovative autopilot configuration suitable for the unmanned aircraft field. Three advanced controllers for fixed-wing unmanned aircraft vehicles are designed and implemented: PID with H1 robust approach, L1 adaptive controller and nonlinear backstepping controller. All of them are analyzed from the theoretical point of view and validated through numerical simulations with a mathematical UAV model. One is implemented on a microcontroller board, validated through hardware simulations and tested in flight. The PID with H1 robust approach is used for the definition of the gains of a commercial autopilot. The proposed technique combines traditional PID control with an H1 loop shaping method to assess the robustness characteristics achievable with simple PID gains. It is demonstrated that this hybrid approach provides a promising solution to the problem of tuning commercial autopilots for UAVs. Nevertheless, it is clear that a tradeoff between robustness and performance is necessary when dealing with this standard control technique. The robustness problem is effectively solved by the adoption of an L1 adaptive controller for complete aircraft control. In particular, the L1 logic here adopted is based on piecewise constant adaptive laws with an adaptation rate compatible with the sampling rate of an autopilot board CPU. The control scheme includes an L1 adaptive controller for the inner loop, while PID gains take care of the outer loop. The global controller is tuned on a linear decoupled aircraft model. It is demonstrated that the achieved configuration guarantees satisfying performance also when applied to a complete nonlinear model affected by uncertainties and parametric perturbations. The third controller implemented is based on an existing nonlinear backstepping technique. A scheme for longitudinal and latero-directional control based on the combination of PID for the outer loop and backstepping for the inner loop is proposed. Satisfying results are achieved also when the nonlinear aircraft model is perturbed by parametric uncertainties. A confrontation among the three controllers shows that L1 and backstepping are comparable in terms of nominal and robust performance, with an advantage for L1, while the PID is always inferior. The backstepping controller is chosen for being implemented and tested on a real fixed-wing RC aircraft. Hardware-in-the-loop simulations validate its real-time control capability on the complete nonlinear model of the aircraft adopted for the tests, inclusive of sensors noise. An innovative microcontroller technology is employed as core of the autopilot system, it interfaces with sensors and servos in order to handle input/output operations and it performs the control law computation. Preliminary ground tests validate the suitability of the autopilot configuration. A limited number of flight tests is performed. Promising results are obtained for the control of longitudinal states, while latero-directional control still needs major improvements

A Dynamics and Stability Framework for Avian Jumping Take-off

Jumping take-off in birds is an explosive behaviour with the goal of providing a rapid transition from ground to airborne locomotion. An effective jump is predicated on the need to maintain dynamic stability through the acceleration phase. The present study concerns understanding how birds retain control of body attitude and trajectory during take-off. Cursory observation suggests that stability is achieved with relatively little cost. However, analysis of the problem shows that the stability margins during jumping are actually very small and that stability considerations play a significant role in selection of appropriate jumping kinematics. We use theoretical models to understand stability in prehensile take-off (from a perch) and also in non-prehensile take-off (from the ground). The primary instability is tipping, defined as rotation of the centre of gravity about the ground contact point. Tipping occurs when the centre of pressure falls outside the functional foot. A contribution of the paper is the development of graphical tipping stability margins for both centre of gravity location and acceleration angle. We show that the nose-up angular acceleration extends stability bounds forward and is hence helpful in achieving shallow take-offs. The stability margins are used to interrogate simulated take-offs of real birds using published experimental kinematic data from a guinea fowl (ground take-off) and a diamond dove (perch take-off). For the guinea fowl the initial part of the jump is stable, however simulations exhibit a stuttering instability not observed experimentally that is probably due to absence of compliance in the idealised joints. The diamond dove model confirms that the foot provides an active torque reaction during take-off, extending the range of stable jump angles by around 45{\deg}.Comment: 21 pages, 11 figures; supplementary material: https://figshare.com/s/86b12868d64828db0d5d; DOI: 10.6084/m9.figshare.721056

Frequency‐Dependent Moment Tensors of Induced Microearthquakes

Analysis of 984 induced microearthquakes from The Geysers geothermal reservoir in California reveals that the retrieved moment tensors depend on the frequency band of the inverted waveforms. The observed dependence is more significant for the percentages of the double‐couple, compensated linear vector dipole, and isotropic (ISO) components than for the focal mechanisms. The average root‐mean‐square of the moment tensors obtained in different frequency bands is correlated with spectra of ambient noise. The percentages of double‐couple and ISO components tend to decrease and increase with the upper cutoff frequency (fu), respectively. This suggests that shear rupture radiates energy preferentially in a lower frequency band and tensile rupture in a higher frequency band. Events displaying a strong increase of the ISO with fu are confined within the same depth interval as the injection points. This might be related to the strong thermoelastic effects in the vicinity of injection points that promote opening of small cracks adjacent to the main fractures

Recombination Reactions as a Possible Mechanism of Mass-Independent Fractionation of Sulfur Isotopes in the Archean Atmosphere of Earth

A hierarchy of isotopically substituted recombination reactions is formulated for production of sulfur allotropes in the anoxic atmosphere of Archean Earth. The corresponding system of kinetics equations is solved analytically to obtain concise expressions for isotopic enrichments, with focus on mass-independent isotope effects due to symmetry, ignoring smaller mass-dependent effects. Proper inclusion of atom-exchange processes is shown to be important. This model predicts significant and equal depletions driven by reaction stoichiometry for all rare isotopes: 33S, 34S, and 36S. Interestingly, the ratio of capital Δ values obtained within this model for 33S and 36S is −1.16, very close to the mass-independent fractionation line of the Archean rock record. This model may finally offer a mechanistic explanation for the striking mass-independent fractionation of sulfur isotopes that took place in the Archean atmosphere of Earth