Adaptive LQ control with anti-windup augmentation to optimize UAV performance in autonomous soaring applications

IEEE Transactions on Control Systems Technology

Volumn 16, Issue 4, 2008, Pages 691-707

  Kahveci, Nazli E ^a,b   Ioannou, Petros A ^a   Mirmirani, Maj D ^c  

^a University of Southern California   (United States)

^b FORD MOTOR COMPANY   (United States)

^c The Department of Aerospace Engineering   (United States)

Author keywords

Adaptive control; Anti windup compensator; Glide ratio; Linear matrix inequality (LMI); Linear quadratic (LQ) control; Static soaring; Unmanned aerial vehicle (UAV)

Indexed keywords

ACTUATORS; ADAPTIVE CONTROL SYSTEMS; CONTROL THEORY; DISTURBANCE REJECTION; DYNAMICS; EIGENVALUES AND EIGENFUNCTIONS; GLIDERS; LINEAR CONTROL SYSTEMS; LINEAR MATRIX INEQUALITIES; MATRIX ALGEBRA; NONLINEAR CONTROL SYSTEMS; OBSERVABILITY; OPTIMIZATION; SATURATION (MATERIALS COMPOSITION); TOKAMAK DEVICES; UNCERTAIN SYSTEMS;

ACTUATOR SATURATION NONLINEARITIES; ACTUATOR SATURATIONS; ADAPTIVE CONTROL; ANTI-WINDUP AUGMENTATION; ANTI-WINDUP DESIGN; CONTROL SURFACES; ENVIRONMENTAL CONDITIONING; GLIDER DYNAMICS; LINEAR MATRICES; LINEAR QUADRATIC CONTROL (LQC); NONLINEARITY (INCLUDING BIFURCATION THEORY); PARAMETRIC UNCERTAINTIES; ROBUST ADAPTIVE CONTROL; UNKNOWN PARAMETERS;

MILITARY DATA PROCESSING;

EID: 46849111376     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2007.908207     Document Type: Article

References (45)

1. B. S. Lazos, "Biologically inspired fixed-wing configuration studies," AIAA J. Aircraft, vol. 42, no. 5, pp. 1089-1098, Sep.-Oct. 2005.
2. M. K. Chen, "From paleoaeronautics to altostratus - A technical history of soaring," presented at the AIAA Aircraft Syst. Technol. Conf., Dayton, OH, Aug. 1981.
3. S. Short, "Birth of American soaring flight: A new technology," AIAA J., vol. 43, no. 1, pp. 17-28, Jan. 2005.
4. M. Boslough, "Autonomous dynamic soaring platform for distributed mobile sensor arrays," Sandia National Laboratories, Jun. 2002, Tech. Rep.
5. Y. J. Zhao and Y. C. Qi, "Minimum fuel powered dynamic soaring of unmanned aerial vehicles utilizing wind gradients," Optimal Control Applic. Meth.: Wiley InterScience, vol. 25, no. 5, pp. 211-233, Nov. 2004.
6. Y. J. Zhao, "Optimal patterns of glider dynamic soaring," Optimal Control Applic. Meth.: Wiley InterScience, vol. 25, no. 2, pp. 67-89, May 2004.
7. G. Sachs and O. da Costa, "Optimization of dynamic soaring at ridges," presented at the AIAA Atmospheric Flight Mech. Conf. Exhibit, Austin, TX, Aug. 2003.
8. J. M. Wharington, "Heuristic control of dynamic soaring," in Proc. 5th Asian Control Conf., Melbourne, Australia, Jul. 2004, vol. 2, pp. 714-722.
9. J. Parle, "Preliminary dynamic soaring research using a radio control glider," presented at the 42nd AIAA Aerosp. Sci. Meet. Exhibit, Reno, NV, Jan. 2004.
10. H. I. Yang and Y. J. Zhao, "A practical strategy of autonomous dynamic soaring for unmanned aerial vehicles in loiter missions," presented at the AIAA Infotech Aerospace Conf., Arlington, VA, Sep. 2005.
11. P. Lissaman, "Wind energy extraction by birds and flight vehicles," presented at the 43rd AIAA Aerosp. Sci. Meet. Exhibit, Reno, NV, Jan. 2005.
12. F. Hendriks, "Dynamic soaring in shear flow," presented at the 2nd Int. Symp. Technol. Sci. Low Speed Motorless Flight, Cambridge, MA, Sep. 1974.
13. D. E. Metzger and J. K. Hedrick, "Optimal flight paths for soaring flight," presented at the 2nd Int. Symp. Technol. Sci. Low Speed Motorless Flight, Cambridge, MA, Sep. 1974.
14. H. Reichmann, Cross-Cauntry Soaring. Hobbs, NM: Soaring Soc. Amer., 1993.
15. J. Wharington and I. Herszberg, "Control of a high endurance unmanned air vehicle," presented at the 21st Congress Int. Council Aeronaut. Sci., Melbourne, Australia, Sep. 1998.
16. M. Allen, "Autonomous soaring for improved endurance of a small uninhabited air vehicle," presented at the 43rd AIAA Aerosp. Sci. Meet. Exhibit, Reno, NV, Jan. 2005.
17. G. Milne, "Glider aerotow training - Feedback theory interpretation and PC-based simulation," presented at the AIAA Model. Simulation Technol. Conf. Exhibit, Montreal, QC, Canada, Aug. 2001.
18. G. de Matteis and P. Menichetti, "Handling qualities of a towed sailplane," presented at the 38th AIAA Aerosp. Sci. Meet. Exhibit, Reno, NV, Jan. 2000.
19. J. Kyle, K. Evans, and M. Costello, "Atmospheric wind energy extraction by a small autonomous glider," presented at the AIAA Atmospheric Flight Mech. Conf. Exhibit, San Francisco, CA, Aug. 2005.
20. B. L. Pierson and I. Chen, "Minimum landing-approach distance for a sailplane," AIAA J. Aircraft, vol. 16, no. 4, pp. 287-288, Apr. 1979.
21. M. D. Maughmer, "Design of winglets for high-performance sailplanes," AIAA J. Aircraft, vol. 40, no. 6, pp. 1099-1106, Nov.-Dec. 2003.
22. R. C. Nelson, Flight Stability and Automatic Control. New York: McGraw-Hill, 1998.
23. J. Wharington, "Autonomous Control of Soaring Aircraft by Reinforcement Learning," Ph.D. dissertation, Dept. Aerospace Eng., Royal Melbourne Inst. of Technol., Melbourne, Australia, Nov. 1998.
24. R. B. Chadwick and E. E. Gossard, "Radar remote sensing of the clear atmosphere - Review and applications," Proc. IEEE, vol. 71, no. 6, pp. 738-753, Jun. 1983.
25. V. E. Derr and C. G. Little, "A comparison of remote sensing of the clear atmosphere by optical, radio, and acoustic radar techniques," Appl. Opt., vol. 9, no. 9, pp. 1976-1992, Sep. 1970.
26. V. R. Noonkester, "The evolution of the clear air convective layer revealed by surface-based remote sensors," J. Appl. Meteorol., vol. 15, no. 6, pp. 594-606, Jun. 1976.
27. V. J. Abreu, J. E. Barnes, and P. B. Hays, "Observations of winds with an incoherent lidar detector," Appl. Opt., vol. 31, no. 22, pp. 4509-4514, Aug. 1992.
28. Y. Ito, Y. Kobori, M. Takehisa, and Y. Mitsuta, "Development of wind profiling sodar," J. Atmosph. Ocean. Technol., vol. 6, no. 5, pp. 779-784, Oct. 1989.
29. H. D. Shannon, G. S. Young, M. A. Yates, M. R. Fuller, and W. S. Seegar, "Measurements of thermal updraft intensity over complex terrain using American white pelicans and a simple boundary-layer forecast model," Boundary-Layer Meteorol., vol. 104, no. 2, pp. 167-199, Aug. 2002.
30. J. H. Cochrane, "MacCready theory with uncertain lift and limited altitude," Technical Soaring, vol. 23, no. 3, pp. 88-96, Jul. 1999.
31. M. Allen, "Updraft model for development of autonomous soaring un-inhabited air vehicles," presented at the 44th AIAA Aerosp. Sci. Meet. Exhibit, Reno, NV, Jan. 2006.
32. D. Piggott, Gliding: A Handbook on Soaring Flight. London, U.K.: A&C Black, 2002.
33. P. B. MacCready, "Regenerative battery-augmented soaring," presented at the Self-Launching Sailplane Symp., Elmira, NY, Jul. 1998
34. N. E. Kahveci, P. A. Ioannou, and M. D. Mirmirani, "Optimal static soaring of UAVs using vehicle routing with time windows," presented at the 45th AIAA Aerosp. Sci. Meet. Exhibit, Reno, NV, Jan. 2007.
35. M. C. Turner and I. Postlethwaite, "A new perspective on static and low order anti-windup synthesis," Int. J. Control, vol. 77, no. 1, pp. 27-44, Jan. 2004.
36. E. Mooij, Linear Quadratic Regulator Design for an Unpowered, Winged Re-Entry Vehicle. Delft, The Netherlands: Delft Univ. Press, 1998.
37. P. Dorato, C. Abdallah, and V. Cerone, Linear-Quadratic Control: An Introduction. Englewood Cliffs NJ: Prentice-Hall, 1995.
38. V. Sima, Algorithms for Linear-Quadratic Optimization. New York: Marcel Dekker, 1996.
39. P. A. Ioannou and J. Sun, Robust Adaptive Control. Upper Saddle River, NJ: Prentice-Hail, 1996.
40. B. D. O. Anderson and J. B. Moore, Optimal Control: Linear Quadratic Methods. Englewood Cliffs, NJ: Prentice-Hall, 1990.
41. S. Ferrari and R. F. Stengel, "Online adaptive critic flight control," AIAA J. Guid., Control, Dynam., vol. 27, no. 5, pp. 777-786, Sep.-Oct. 2004.
42. G. Grimm, J. Hatfield, I. Postlethwaite, A. R. Teel, M. C. Turner, and L. Zaccarian, "Antiwindup for stable linear systems with input saturation: An LMI-based synthesis," EEE Trans. Autom. Control, vol. 48, no. 9, pp. 1509-1525. Sep. 2003.
43. Y. Y. Cao, Z. Lin, and D. G. Ward, "H∞ antiwindup design for linear systems subject to input saturation," AIAA J. Guid., Control, Dynam. vol. 25, no. 3, pp. 455-463, May-Jun. 2002.
44. M. C. Turner, G. Herrmann, and I. Postlehwaite, "Accounting for uncertainty in anti-windup synthesis," in Proc. Amer. Control Conf. Boston, MA, Jun. 2004, vol. 6, pp. 5292-5297.
45. N. Kapoor, A. R. Teel, and P. Daoutidis, "An invariant subspace technique for anti-windup synthesis," in Proc. Amer. Control Conf. Albuquerque, NM, Jun, 1997, vol. 5, pp. 3083-3087.