Contribution à la Synthèse de Lois de Commande pour le Guidage des Avions de Transport

Safety and environmental considerations in air transportation urge today for the development of new guidance systems with improved accuracy for spatial and temporal trajectory tracking. The main objectives of this thesis dissertation is to contribute to the synthesis of a new generation of nonlinear guidance control laws for transportation aircraft presenting enhanced trajectory tracking performances and to explore the feasibility and performances of a flight guidance system developed within a space-indexed reference with the aim of reducing tracking errors and ensuring the satisfaction of overfly time constraints as well as final arrival time constraint. Before presenting the main approaches for the design of control laws for autopilots and autoguidance systems devoted to transport aircraft and the way current Flight Management Systems generates guidance directives, flight dynamics of transportation aircraft, including explicitly the wind components, are presented. Then, the interest for adaptive flight control is discussed and a self contained adaptive flight path tracking control for various flight conditions taking into account automatically the possible aerodynamic and thrust parametric changes is proposed. Then, the main recognized nonlinear control approaches suitable for trajectory tracking are analyzed. Finally an original vertical space-indexed guidance control law devoted to aircraft trajectory tracking is developed and compared with the classical time-indexed approach.Compte tenu de la forte croissance du trafic aérien aussi bien dans les pays émergents que dans les pays développés soutenue durant ces dernières décennies, la satisfaction des exigences relatives à la sécurité et à l'environnement nécessite le développement de nouveaux systèmes de guidage. L'objectif principal de cette thèse est de contribuer à la synthèse d'une nouvelle génération de lois de guidage pour les avions de transport présentant de meilleures performances en terme de suivi de trajectoire. Il s'agit en particulier d'évaluer la faisabilité et les performances d'un système de guidage utilisant un référentiel spatial. Avant de présenter les principales approches utilisées pour le développement de lois de commande pour les systèmes de pilotage et de guidage automatiques et la génération de directives de guidage par le système de gestion du vol, la dynamique du vol d'un avion de transport est modélisée en prenant en compte d'une manière explicite les composantes du vent. Ensuite, l'intérêt de l'application de la commande adaptative dans le domaine de la conduite automatique du vol est discuté et une loi de commande adaptative pour le suivi de pente est proposée. Les principales techniques de commande non linéaires reconnues d'intérêt pour le suivi de trajectoire sont alors analysées. Finalement, une loi de commande référencée dans l'espace pour le guidage vertical d'un avion de transport est développée et est comparée avec l'approche temporelle classique. L'objectif est de réduire les erreurs de poursuite et mieux répondre aux contraintes de temps de passage en certains points de l'espace ainsi qu'à une possible contrainte de temps d'arrivée

Direct Adaptive Backstepping Flight Control for Quadcopter Trajectory Tracking

International audienceIn the near future, unmanned aerial vehicles, are probably going to be integrated in the airspace and the current air traffic management concepts, need to be reviewed. Enhancements are expected from reliability, safety, and accuracy point of view. Adaptive flight control could support partially such challenge, regarding its capability to face modelling inaccuracies, parameter uncertainties and external disturbances. In addition, it could improve both of the flying and handling qualities, and impacts positively stability and maneuvrability margins, especially in the presence of unfavorable flight conditions. The main objective of this paper deals with a quadcopter adaptive flight control system that generates the necessary control laws to perform accurately, as well as possible, the reference flight trajectories. In this paper, a direct dynamical adaptive flight controller, based on backstepping approach, is developed for quadcopter trajectory tracking, where minimum phase and observability conditions are checked from differential geometry point of view. Developed direct adaptive backstepping flight control system provides nonlinear adaptive control laws in an iterative and systematic procedure design. Therefore, interlaced tuning functions are used to estimate and update laws in order to compensate the uncertain parameters of interest. The global stability of the proposed adaptive flight control system is guaranteed, based on Lyapunov theory, where the design of adaptation laws according to some quadcopter parameters is developed. Numerical simulations are performed for the quadcopter, engaged in complex trajectory tracking, and obtained results show the feasibility and effectiveness of the proposed adaptive flight control approach

Adaptive backstepping for trajectory tracking of nonlinearly parameterized class of nonlinear systems

International audienceAdaptive control is of interest in control systems design not only for its capability to improve performance and reliability but also for handling parameters uncertainties, external disturbances and modeling inaccuracies. This paper addresses a systematic procedure design to develop an adaptive backstepping tracking control approach for a second-order class of single input-single output (SISO) nonlinear systems where the controllability condition is checked. The considered class covers general feedback linearizable and nonlinearly parameterized systems. Both of the control and adaptation laws are synthesized simultaneously based on the positivity and Lyapunov design approaches. Simulation results for an illustrative numerical example are provided to illustrate in this case the effectiveness of the proposed controller

Contribution à la Synthèse de Lois de Commande pour le Guidage des Avions de Transport

Compte tenu de la forte croissance du trafic aérien aussi bien dans les pays émergents que dans les pays développés soutenue durant ces dernières décennies, la satisfaction des exigences relatives à la sécurité et à l environnement nécessite le développement de nouveaux systèmes de guidage. L objectif principal de cette thèse est de contribuer à la synthèse d une nouvelle génération de lois de guidage pour les avions de transport présentant de meilleures performances en terme de suivi de trajectoire. Il s agit en particulier d évaluer la faisabilité et les performances d un système de guidage utilisant un référentiel spatial. Avant de présenter les principales approches utilisées pour le développement de lois de commande pour les systèmes de pilotage et de guidage automatiques et la génération de directives de guidage par le système de gestion du vol, la dynamique du vol d un avion de transport est modélisée en prenant en compte d une manière explicite les composantes du vent. Ensuite, l intérêt de l application de la commande adaptative dans le domaine de la conduite automatique du vol est discuté et une loi de commande adaptative pour le suivi de pente est proposée. Les principales techniques de commande non linéaires reconnues d intérêt pour le suivi de trajectoire sont alors analysées. Finalement, une loi de commande référencée dans l espace pour le guidage vertical d un avion de transport est développée et est comparée avec l approche temporelle classique. L objectif est de réduire les erreurs de poursuite et mieux répondre aux contraintes de temps de passage en certains points de l espace ainsi qu à une possible contrainte de temps d arrivéeSafety and environmental considerations in air transportation urge today for the development of new guidance systems with improved accuracy for spatial and temporal trajectory tracking.The main objectives of this thesis dissertation is to contribute to the synthesis of a new generation of nonlinear guidance control laws for transportation aircraft presenting enhanced trajectory tracking performances and to explore the feasibility and performances of a flight guidance system developed within a space-indexed reference with the aim of reducing tracking errors and ensuring the satisfaction of overfly time constraints as well as final arrival time constraint. Before presenting the main approaches for the design of control laws for autopilots and auto-guidance systems devoted to transport aircraft and the way current Flight Management Systems generates guidance directives, flight dynamics of transportation aircraft, including explicitly the wind components, are presented. Then, the interest for adaptive flight control is discussed and a self contained adaptive flight path tracking control for various flight conditions taking into account automatically the possible aerodynamic and thrust parametric changes is proposed. Then, the main recognized nonlinear control approaches suitable for trajectory tracking are analyzed. Finally an original vertical space-indexed guidance control law devoted to aircraft trajectory tracking is developed and compared with the classical time-indexed approachTOULOUSE-INSA-Bib. electronique (315559905) / SudocSudocFranceF

Space-based nonlinear dynamic inversion control for aircraft continuous descent approach

International audienceWith the growth of civil aviation traffic, enhanced accuracy performances are required from guidance systems to maintain efficiency and safety in flight operations. This communication proposes a new representation of aircraft flight dynamics at approach for landing and a space-based nonlinear dynamic inversion control for a transportation aircraft. The main novelty is that the adopted independent variable is the distance to land. This new representation of flight dynamics should support the development of improved aircraft guidance systems

Modeling and Adaptive Flight Control for Quadrotor Trajectory Tracking

International audienceIn the near future, unmanned aerial vehicles are probably going to be included in the airspace. Therefore, air traffic management needs to be enhanced in terms of reliability, safety, and accuracy. The main objective of this paper deals with a quadrotor flight control system that generates the necessary control laws to perform accurately, as well as possible, the reference flight trajectories. In this paper, a new quadrotor flight dynamics is developed, including an adopted wind model component where a study of the minimum phase and observability conditions is performed. Based on an adaptive backstepping control algorithm, a developed flight control system generates nonlinear control laws in an iterative and systematic procedure design. In addition to some simulations in a no-wind situation, the proposed adaptive flight control system is simulated in a windy flight condition. The design of adaptation laws according to some quadrotor parameters is developed, and the global stability of the proposed flight control system is guaranteed using the Lyapunov theory. Numerical simulations are performed for the quadrotor engaged in complex trajectory tracking, and obtained results show the feasibility and effectiveness of the proposed control approach

Aircraft trajectory tracking by nonlinear spatial inversion

International audienceWith the growth of civil aviation traffic, enhanced accuracy performances are required from guidance systems to maintain efficiency and safety in flight operations. This communication proposes a new representation of aircraft flight dynamics at approach for landing and a space-based nonlinear dynamic inversion control technique for the guidance of transportation aircraft. The main novelty is that the adopted independent variable is distance to land which allows the development of a new guidance approach with a perspective for improved performance

Direct Adaptive Backstepping Flight Control for Quadcopter Trajectory Tracking

International audience; In the near future, unmanned aerial vehicles, are probably going to be integrated in the airspace and the current air traffic management concepts, need to be reviewed. Enhancements are expected from reliability, safety, and accuracy point of view. Adaptive flight control could support partially such challenge, regarding its capability to face modelling inaccuracies, parameter uncertainties and external disturbances. In addition, it could improve both of the flying and handling qualities, and impacts positively stability and maneuvrability margins, especially in the presence of unfavorable flight conditions. The main objective of this paper deals with a quadcopter adaptive flight control system that generates the necessary control laws to perform accurately, as well as possible, the reference flight trajectories. In this paper, a direct dynamical adaptive flight controller, based on backstepping approach, is developed for quadcopter trajectory tracking, where minimum phase and observability conditions are checked from differential geometry point of view. Developed direct adaptive backstepping flight control system provides nonlinear adaptive control laws in an iterative and systematic procedure design. Therefore, interlaced tuning functions are used to estimate and update laws in order to compensate the uncertain parameters of interest. The global stability of the proposed adaptive flight control system is guaranteed, based on Lyapunov theory, where the design of adaptation laws according to some quadcopter parameters is developed. Numerical simulations are performed for the quadcopter, engaged in complex trajectory tracking, and obtained results show the feasibility and effectiveness of the proposed adaptive flight control approach

Flight path tracking based-on direct adaptive sliding mode control

International audienceAdaptive control algorithms are of interest in the flight control systems design not only for their capability to improve performance and reliability but also for handling aerodynamic parameter uncertainties, external disturbances and modeling inaccuracies. This paper addresses a nonlinear direct adaptive sliding mode controller to perform a flight path tracking for a transportation aircraft. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Simulation results for different flight conditions for transportation aircraft are provided to illustrate the effectiveness of the proposed controller

Aircraft time-2D longitudinal guidance based on spatial inversion of flight dynamics

International audienceWith the growth of civil aviation traffic capacity, safety and environmental considerations urge today for the development of guidance systems with improved accuracy for spatial and temporal trajectory tracking. This should induce increased capacity by allowing safe operations at minimum separation standards. Also, at take-off and landing, trajectory dispersion should be reduced resulting in controlled noise impacts on airport surrounding communities. Current civil aviation guidance systems operate with real time corrective actions to maintain the aircraft trajectory as close as possible to the planned trajectory. In this paper, we consider the problems of designing new longitudinal guidance control laws for an autopilot so that accurate vertical tracking and overfly time are better insured. Instead of using time as the independent variable to describe the guidance dynamics of the aircraft, we adopt distance to land, which can be considered today to be available online with acceptable accuracy and availability. A new representation of aircraft longitudinal guidance dynamics is developed according to this spatial variable. Then a nonlinear inverse control law based-on this new proposed spatial representation of guidance dynamics is established to make the aircraft follow accurately a vertical profile and a desired airspeed. The desired airspeed is then regulated to make the aircraft overfly different waypoints according to a planned time-table. Then simulations experiments with different wind conditions are performed for a transportation aircraft performing a general descent approach for landing. These simulation results are compared with those obtained from a classical time-based guidance control law