Hostname: page-component-586b7cd67f-gb8f7 Total loading time: 0 Render date: 2024-11-29T02:11:56.624Z Has data issue: false hasContentIssue false
  • English
  • Français

Multi-body dynamic modelling and flight control for an asymmetric variable sweep morphing UAV

Part of: Smart Aircraft

Published online by Cambridge University Press:  27 January 2016

L. Tong  and
H. Ji
H. Ji*
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei, China
*
[email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper, the multi-body dynamic model of an asymmetric variable sweep wing morphing UAV is built based on Kane’s method. This model describes the UAV’s transient behaviour during morphing process and the dynamic characteristic of the variable sweep wings. An integrated design of trajectory tracking control via constrained backstepping method is presented then. The idea of aircraft roll control through asymmetric wing sweep angle changes rather than traditional aileron is explored and used in the fight control design. The control of variable sweep wings is designed as well based on the presented dynamic model. Command filters are used in the backstepping design procedure to accommodate magnitude, rate and bandwidth constraints on virtual states and actuator signals. Stability of the closed-loop system can be proved in the sense of Lyapunov. Simulation of tracking a desired trajectory which contains two manoeuvres demonstrates the feasibility of the proposed protocol and the morphing wing roll controller.

Type
Research Article
Information
The Aeronautical Journal , Volume 118 , Issue 1204 , June 2014 , pp. 683 - 706
Copyright
Copyright © Royal Aeronautical Society 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Clough, B.T. Unmanned aerial vehicles: Autonomous control challenges, a researchers perspective, J Aerospace Computing, Information and Communication, 2005, 2, (8), pp 327–347.Google Scholar
2. Wegener, S., Sullivan, D., Frank, J. and Enomoto, F. UAV Autonomous operations for airborne science missions, 2004, Third AIAA ‘Unmanned Unlimited’ Technical Conference, Workshop and Exhibition, AIAA Paper 2004-6416.Google Scholar
3. Bae, J.S. Seigler, T.M. and Inman, D.J. Aerodynamic and static aeroelastic characteristics of a variable-span morphing wing, J Aircr, 42, pp 528–534, 2005.Google Scholar
4. Boothe, K. A design scheme aimed at minimizing actuator and structural loads of a span morphing aircraft, 2006, 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference, pp 6418- 6427.Google Scholar
5. An, J.G., Yan, M., Zhou, W.B., Sun, X.H., Yan, Z. and Qiu, C.R. Aircraft dynamic response to variable wing sweep geometry, J Aircr, March 1988, 25, pp 216–221.Google Scholar
6. An, J., Ming, Y., Wenbo, Z., Xianghai, S. and Zhen, Y. The dynamic response of a variable sweep aircraft in the course of changing geometry, 1986, Atmospheric Flight Mechanics Conference, AIAA 1986-2234.Google Scholar
7. Yue, T., Wang, L. and Ai, J. Multibody dynamic modeling and simulation of a tailless folding wing morphing aircraft, 2009, AIAA Atmospheric Flight Mechanics Conference, AIAA 2009-6155.Google Scholar
8. Abdulrahim, M. and Lind, R. Control and simulation of a multi-role morphing micro air vehicle, 2005, AIAA Paper 2005, 6481.Google Scholar
9. Abdulrahim, M. and Lind, R. Modeling and control of micro air vehicles with biologically-inspired morphing, 2006, American Control Conference, pp 2718–2723.Google Scholar
10. Stanford, B., Abdulrahim, M., Lind, R. and Ifju, P. Design and optimization of morphing mechanisms for highly flexible micro air vehicles, 2006, 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference, AIAA 2006-2162.Google Scholar
11. Abdulrahim, M., Garcia, H. and Lind, R. Flight characteristics of shaping the membrane wing of a micro air vehicle, J Aircr, 2005, 42, pp 131–137.Google Scholar
12. Hong, C.H., Cheplak, M., Choi, J.Y. and Mavris, D.N. Flexible multi-body design of a morphing UCAV, 2004, Third AIAA Unmanned Unlimited Technical Conference, pp 1–11.Google Scholar
13. Seigler, T.M. Dynamics and Control of Morphing Aircraft, 2005, PhD thesis, Virginia Polytechnic Institute and State University.Google Scholar
14. Hurst, A.C., Wickenheiser, A.M. and Garcia, E. Control of an adaptive aircraft with a morphing input, 2009, 50th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference, AIAA- 2009-2130.Google Scholar
15. Bourdin, P., Gatto, A. and Friswell, M.I. Performing co-ordinated turns with articulated wing-tips as multi-axis control effectors, Aeronaut J, Jan 2010, 114, pp 35–47.Google Scholar
16. Henry, J.J. Roll Control for UAVs by use of a Variable Span Morphing Wing, 2005, PhD thesis, University of Maryland.Google Scholar
17. Grant, D.T. and Lind, R. Effects of time-varying inertias on flight dynamics of an asymmetric variable-sweep morphing aircraft, 2007, AIAA Atmospheric Flight Mechanics Conference, AIAA- 2007-6487.Google Scholar
18. Tong, L. and Ji, H. Multibody dynamic modelling and roll control of asymmetric variable sweep morphing aircrafts, 2013, 10th IEEE International Conference on Control and Automation.Google Scholar
19. Kane, T.R. and Levinson, D.A. Dynamics Theory and Applications, 1985, McGraw-Hill Book Company.Google Scholar
20. Townsend, M. Equivalence of Kane’s, Gibbs-Appell’s and Lagrange’s equations, J Guidance, Control, and Dynamics, 1992, 15, pp 1289–1292.Google Scholar
21. Desloge, E.A. Relationship between Kane’s equations and the Gibbs-Appell equations, J Guidance Control Dynamics, 1987, 10, pp 120–122.Google Scholar
22. Keat, J. Comment on ‘Relationship between Kane’s equations and the Gibbs-Appell equations, J Guidance, Control and Dynamics, 1987, 10, pp 594–595.Google Scholar
23. Lewis, B.L. and Stevens, F.L. Aircraft Control and Simulation, 1992, pp 1–54, 110-115, Wiley, New York, USA.Google Scholar
24. Kaminer, I., Pascoal, A., Hallberg, E. and Silvestre, C. Trajectory tracking for autonomous vehicles: An integrated approach to guidance and control, J Guidance, Control and Dynamics, 1998, 21, pp 29–38.Google Scholar
25. Sonneveldt, L., Van Oort, E., Chu, Q. and Mulder, J. Nonlinear adaptive trajectory control applied to an F-16 model, J Guidance, Control, and Dynamics,, 2009, 32, pp 25–39.Google Scholar
26. Farrell, J., Sharma, M. and Polycarpou, M. Backstepping-based flight control with adaptive function approximation, J Guidance, Control and Dynamics, 2005, 28, pp 1089–1102.Google Scholar
27. Zhou, H.B., Pei, H.L., He, Y.-B. and Zhao, Y.J. Trajectory tracking control of unmanned helicopter via filtering backstepping, Control and Decision, 2012, 27, pp 613–617.Google Scholar
28. Farrell, J., Polycarpou, M. and Sharma, M. Adaptive backstepping with magnitude, rate and bandwidth constraints: aircraft longitude control, 2003, American Control Conference, pp 3898–3904.Google Scholar