Autonomous Safety Control of Flight Vehicles

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

Overview

Aerospace vehicles are by their very nature a crucial environment for safety-critical systems. By virtue of an effective safety control system, the aerospace vehicle can maintain high performance despite the risk of component malfunction and multiple disturbances, thereby enhancing aircraft safety and the probability of success for a mission.

Autonomous Safety Control of Flight Vehicles presents a systematic methodology for improving the safety of aerospace vehicles in the face of the following occurrences: a loss of control effectiveness of actuators and control surface impairments; the disturbance of observer-based control against multiple disturbances; actuator faults and model uncertainties in hypersonic gliding vehicles; and faults arising from actuator faults and sensor faults. Several fundamental issues related to safety are explicitly analyzed according to aerospace engineering system characteristics; while focusing on these safety issues, the safety control design problems of aircraft are studied and elaborated on in detail using systematic design methods. The research results illustrate the superiority of the safety control approaches put forward.

The expected reader group for this book includes undergraduate and graduate students but also industry practitioners and researchers.

About the Authors:

Xiang Yu is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include safety control of aerospace engineering systems, guidance, navigation, and control of unmanned aerial vehicles.

Lei Guo, appointed as "Chang Jiang Scholar Chair Professor", is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include anti-disturbance control and filtering, stochastic control, and fault detection with their applications to aerospace systems.

Youmin Zhang is a Professor in the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Québec, Canada. His research interests include fault diagnosis and fault-tolerant control, and cooperative guidance, navigation, and control (GNC) of unmanned aerial/space/ground/surface vehicles.

Jin Jiang is a Professor in the Department of Electrical & Computer Engineering, Western University, London, Ontario, Canada. His research interests include fault-tolerant control of safety-critical systems, advanced control of power plants containing non-traditional energy resources, and instrumentation and control for nuclear power plants.

Product Details

ISBN-13:	9780367701796
Publisher:	CRC Press
Publication date:	08/29/2022
Pages:	220
Product dimensions:	6.12(w) x 9.19(h) x (d)

About the Author

Xiang Yu is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include safety control of aerospace engineering systems, guidance, navigation, and control of unmanned aerial vehicles.

Lei Guo, appointed as "Chang Jiang Scholar Chair Professor", is a Professor with the School of Automation Science and Electrical Engineering, Beihang University. His research interests include anti-disturbance control and filtering, stochastic control, and fault detection with their applications to aerospace systems.

Youmin Zhang is a Professor in the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University. His research interests include fault diagnosis and fault-tolerant control, cooperative guidance, navigation and control (GNC) of unmanned aerial/space/ground/surface vehicles.

Jin Jiang is a Professor in the Department of Electrical & Computer Engineering, Western University, London, Ontario, Canada. His research interests include fault-tolerant control of safety-critical systems, advanced control of power plants containing non-traditional energy resources, and instrumentation and control for nuclear power plants.

Table of 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 Actuator 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

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 Controller 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 Impairments 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 Ant i-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

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 Safety Control System Based on Adaptive Multivariable 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-Oriented Model Subject to Actuator Faults and Uncertainties 120

6.2.3 Problem Statement 123

6.3 Fixed-Time Observer 124

6.3.1 An Overview of the Developed Observer and Accommodation Architecture 124

6.3.2 Fixed-Time Observer 124

6.4 Finite-Time Accommodation Design 126

6.5 Numerical Simulations 130

6.5.1 HGV Flight Conditions 130

6.5.2 Simulation Scenarios 130

6.5.3 Simulation Results 131

6.6 Conclusions 134

6.7 Notes 135

7 Fault Accommodation with Consideration of Control Authority and Gyro Availability 137

7.1 Introduction 137

7.2 Aircraft Model and Problem Statement 139

7.2.1 Longitudinal Aircraft Model Description 139

7.2.2 Analysis of Flight Actuator Constraints 142

7.2.3 Failure Modes and Modeling of Flight Actuators 144

7.2.4 Failure Modes and Modeling of Flight Sensor Gyros 144

7.2.5 Problem Statement 145

7.3 Fault Accommodation with Actuator Constraints 146

7.3.1 An Overview of the Fault Accommodation Scheme 146

7.3.2 Fault Accommodation within Actuator Control Authority 146

7.4 Fault Accommodation with Actuator Constraints and Sensorless Angular Rate 151

7.4.1 An Overview of the SMO-Based Fault Accommodation Scheme with Sensorless Angular Velocity 151

7.4.2 A SMO for Estimating Angular Rate 152

7.4.3 Integrated Design of SMO and Fault Accommodation 153

7.5 Simulation Studies 157

7.5.1 Simulation Environment Description 157

7.5.2 Simulation Scenarios 157

7.5.3 Results of Case I and Assessment 159

7.5.4 Results of Case II and Assessment 161

7.6 Conclusions 167

7.7 Notes 167

A Appendix for Chapter 2 169

B Appendix for Chapter 3: Part 1 173

C Appendix for Chapter 3: Part 2 175

D Appendix for Chapter 3: Part 3 179

E Appendix for Chapter 4 183

E.1 Experimental Parameters 183

E.1.1 Physical Parameters 183

E.1.2 Gains 183

Bibliography 185