Siding Mode Control of Pitch-Rate of an F-16 Aircraft
This paper considers the control of the longitudinal
flight dynamics of an F-16 aircraft. The primary design objective
is model-following of the pitch rate q, which is the preferred
system for aircraft approach and landing. Regulation of the aircraft
velocity V (or the Mach-hold autopilot) is also considered, but
as a secondary objective. The problem is challenging because the
system is nonlinear, and also non-affine in the input. A sliding
mode controller is designed for the pitch rate, that exploits the
modal decomposition of the linearized dynamics into its short-period
and phugoid approximations. The inherent robustness of the SMC
design provides a convenient way to design controllers without gain
scheduling, with a steady-state response that is comparable to that
of a conventional polynomial based gain-scheduled approach with
integral control, but with improved transient performance. Integral
action is introduced in the sliding mode design using the recently
developed technique of “conditional integrators", and it is shown that
robust regulation is achieved with asymptotically constant exogenous
signals, without degrading the transient response. Through extensive
simulation on the nonlinear multiple-input multiple-output (MIMO)
longitudinal model of the F-16 aircraft, it is shown that the conditional
integrator design outperforms the one based on the conventional linear
control, without requiring any scheduling.
[1] R.J. Adams, J.M. Buffington, and S.S Banda. Design of nonlinear
control laws for high-angle-of-attack flight. Jnl. Guidance, Control, and
Dynamics, 17(4):737-745, 1994.
[2] G.J. Balas. Flight control law design: An industry perspective. European
Jnl. of Ctrl., 9(2-3):207-226, 2003.
[3] C. Barbu, S. Galeani, A.R. Teel, and L. Zaccarian. Non-linear antiwindup
for manual flight control. Intl. Jnl. of Ctrl., 78(14):1111-1129,
2005.
[4] R. Bhattacharya, Balas. G., M. Kaya, and A. Packard. Nonlinear
receding horizon control of an F-16 aircraft. Jnl. Guidance, Control,
and Dynamics, 25(5):924-931, 2002.
[5] J.M. Biannic and P. Apkarian. Parameter varying control of a high
performance aircraft. In Proc. AIAA, Guidance, Navigation and Control
Conference, pages 69-87, 1996.
[6] Y.J. Huang, T.C. Kuo, and H.K. Way. Robust vertical takeoff and
landing aircraft control via integral sliding mode. Control Theory and
Applications, IEE Proceedings-, 150:383-388, 2003.
[7] Y. Huo, M. Mirmirani, P. Ioannou, and R. Colgren. Adaptive linear
quadratic design with application to F-16 fighter aircraft. In AIAA
Guidance, Navigation, and Control Conference and Exhibit, August
2004.
[8] E.M. Jafarov and R. Tasaltin. Robust sliding-mode control for the
uncertain MIMO aircraft model F-18. IEEE Trans. Aerospace Electronic
Sys., 36(4):1127-1141, 2000.
[9] T. Keviczky and G. Balas. Receding horizon control of an F-16 aircraft:
A comparative study. Control Engg. Practice, 14(9):1023-1034, 2006.
[10] H.K. Khalil. Universal integral controllers for minimum phase nonlinear
systems. IEEE Trans. Aut. Ctrl., 45(3):490-494, 2000.
[11] D.A. Lawrence and W.J. Rugh. Gain scheduling dynamic linear
controllers for a nonlinear plant. Automatica, 31(3):381-390, 1995.
[12] T. Lee and Y. Kim. Nonlinear adaptive flight control using backstepping
and neural networks controller. Jnl. Guidance, Control, and Dynamics,
24(4):675-682, 2001.
[13] B. Lu. Linear Parameter-Varying Control of an F-16 Aircraft at High
Angle of Attack. PhD thesis, North Carolina State University, 2004.
[14] B. Lu, F. Wu, and S. Kim. LPV antiwindup compensation for enhanced
flight control performance. Jnl. Guidance, Control and Dynamics,
28:495-505, 2005.
[15] J-F. Magni, S. Bennani, and J. Terlouw (Eds). Robust Flight Control: A
Design Challenge. Lecture Notes in Control and Information Sciences
- Vol 224. Springer, 1998.
[16] L.T. Nguyen, M.E. Ogburn, W.P. Gillert, K.S. Kibler, P.W. Brown, and
P.L. Deal. Simulator study of stall/post-stall characteristics of a fighter
airplane with relaxed longitudinal static stability. NASA Technical Paper
1538, 1979.
[17] E. Promtun. Sliding Mode Control of F-16 Longitudinal Dynamics. MS.
Thesis, San Diego State University, San Diego, USA, 2007.
[18] E. Promtun and S. Seshagiri. Sliding mode control of pitch-rate of an
F-16 aircraft. In 17th IFAC World Congress, Seoul, S. Korea, July 2008.
[19] W.C. Reigelsperger and S.S. Banda. Nonlinear simulation of a modified
F-16 with full-envelope control laws. Control Engineering Practice,
6:309-320, 1998.
[20] Richard S. Russell. Non-linear F-16 simulation using Simulink and
Matlab. Technical report, University of Minnesota, June 2003.
[21] R. Rysdyk and A.J. Calise. Robust nonlinear adaptive flight control for
consistent handling qualities. IEEE Trans. Aut. Ctrl., 13(6):896-910,
2005.
[22] S. Seshagiri and H.K. Khalil. Robust output feedback regulation of
minimum-phase nonlinear systems using conditional integrators. Automatica,
41(1):43-54, 2005.
[23] S. Seshagiri and E. Promtun. Sliding mode control of F-16 longitudinal
dynamics. In 2008 American Control Conference, Seattle, Washington,
U.S.A, June 2008.
[24] J.S. Shamma and J.S. Cloutier. Gain-scheduled bank-to-turn autopilot
design using linear parameter varying transformations. Jnl. Guidance
Control and Dynamics, 9(5):1056-1063, 1996.
[25] Y. Shtessel, J. Buffington, and S. Banda. Tailless aircraft flight control
using multiple time scale reconfigurable sliding modes. IEEE Trans.
Ctrl. Sys. Tech., 10(2):288-62, 2002.
[26] S.A. Snell, D.F. Enns, and Jr. W.L. Garrard. Nonlinear inversion flight
control for a supermaneuverable aircraft. Jnl. Guidance, Control, and
Dynamics, 15(4):976-984, 1992.
[27] Lars Sonneveldt. Nonlinear F-16 model description. Technical report,
Delft University of Technology, The Netherlands, June 2006.
[28] M.S. Spillman. Robust longitudinal flight control design using linear
parameter-varying feedback. Jnl. Guidance, Control, and Dynamics,
23(1):101-108, 2000.
[29] B.L. Stevens and F.L. Lewis. Aircraft Control and Simulation. John
Wiley & Sons, Inc., 2 edition, 2003.
[30] H. Vo and S. Seshagiri. Robust control of F-16 lateral dynamics
(accepted). In 2008 IEEE IECON08, Orlando, Florida, U.S.A, Nov
2008.
[31] A. Young, C. Cao, N. Hovakimyan, and E. Lavretsky. An adaptive
approach to nonaffine control design for aircraft applications. In AIAA
Guidance, Navigation, and Control Conference and Exhibit, Keystone,
CO, USA, August 2006.
[32] K.D. Young, V.I. Utkin, and U. Ozguner. A control engineer-s guide to
sliding mode control. IEEE Trans. Ctrl. Sys. Tech., 7(3):328-342, 1999.
[1] R.J. Adams, J.M. Buffington, and S.S Banda. Design of nonlinear
control laws for high-angle-of-attack flight. Jnl. Guidance, Control, and
Dynamics, 17(4):737-745, 1994.
[2] G.J. Balas. Flight control law design: An industry perspective. European
Jnl. of Ctrl., 9(2-3):207-226, 2003.
[3] C. Barbu, S. Galeani, A.R. Teel, and L. Zaccarian. Non-linear antiwindup
for manual flight control. Intl. Jnl. of Ctrl., 78(14):1111-1129,
2005.
[4] R. Bhattacharya, Balas. G., M. Kaya, and A. Packard. Nonlinear
receding horizon control of an F-16 aircraft. Jnl. Guidance, Control,
and Dynamics, 25(5):924-931, 2002.
[5] J.M. Biannic and P. Apkarian. Parameter varying control of a high
performance aircraft. In Proc. AIAA, Guidance, Navigation and Control
Conference, pages 69-87, 1996.
[6] Y.J. Huang, T.C. Kuo, and H.K. Way. Robust vertical takeoff and
landing aircraft control via integral sliding mode. Control Theory and
Applications, IEE Proceedings-, 150:383-388, 2003.
[7] Y. Huo, M. Mirmirani, P. Ioannou, and R. Colgren. Adaptive linear
quadratic design with application to F-16 fighter aircraft. In AIAA
Guidance, Navigation, and Control Conference and Exhibit, August
2004.
[8] E.M. Jafarov and R. Tasaltin. Robust sliding-mode control for the
uncertain MIMO aircraft model F-18. IEEE Trans. Aerospace Electronic
Sys., 36(4):1127-1141, 2000.
[9] T. Keviczky and G. Balas. Receding horizon control of an F-16 aircraft:
A comparative study. Control Engg. Practice, 14(9):1023-1034, 2006.
[10] H.K. Khalil. Universal integral controllers for minimum phase nonlinear
systems. IEEE Trans. Aut. Ctrl., 45(3):490-494, 2000.
[11] D.A. Lawrence and W.J. Rugh. Gain scheduling dynamic linear
controllers for a nonlinear plant. Automatica, 31(3):381-390, 1995.
[12] T. Lee and Y. Kim. Nonlinear adaptive flight control using backstepping
and neural networks controller. Jnl. Guidance, Control, and Dynamics,
24(4):675-682, 2001.
[13] B. Lu. Linear Parameter-Varying Control of an F-16 Aircraft at High
Angle of Attack. PhD thesis, North Carolina State University, 2004.
[14] B. Lu, F. Wu, and S. Kim. LPV antiwindup compensation for enhanced
flight control performance. Jnl. Guidance, Control and Dynamics,
28:495-505, 2005.
[15] J-F. Magni, S. Bennani, and J. Terlouw (Eds). Robust Flight Control: A
Design Challenge. Lecture Notes in Control and Information Sciences
- Vol 224. Springer, 1998.
[16] L.T. Nguyen, M.E. Ogburn, W.P. Gillert, K.S. Kibler, P.W. Brown, and
P.L. Deal. Simulator study of stall/post-stall characteristics of a fighter
airplane with relaxed longitudinal static stability. NASA Technical Paper
1538, 1979.
[17] E. Promtun. Sliding Mode Control of F-16 Longitudinal Dynamics. MS.
Thesis, San Diego State University, San Diego, USA, 2007.
[18] E. Promtun and S. Seshagiri. Sliding mode control of pitch-rate of an
F-16 aircraft. In 17th IFAC World Congress, Seoul, S. Korea, July 2008.
[19] W.C. Reigelsperger and S.S. Banda. Nonlinear simulation of a modified
F-16 with full-envelope control laws. Control Engineering Practice,
6:309-320, 1998.
[20] Richard S. Russell. Non-linear F-16 simulation using Simulink and
Matlab. Technical report, University of Minnesota, June 2003.
[21] R. Rysdyk and A.J. Calise. Robust nonlinear adaptive flight control for
consistent handling qualities. IEEE Trans. Aut. Ctrl., 13(6):896-910,
2005.
[22] S. Seshagiri and H.K. Khalil. Robust output feedback regulation of
minimum-phase nonlinear systems using conditional integrators. Automatica,
41(1):43-54, 2005.
[23] S. Seshagiri and E. Promtun. Sliding mode control of F-16 longitudinal
dynamics. In 2008 American Control Conference, Seattle, Washington,
U.S.A, June 2008.
[24] J.S. Shamma and J.S. Cloutier. Gain-scheduled bank-to-turn autopilot
design using linear parameter varying transformations. Jnl. Guidance
Control and Dynamics, 9(5):1056-1063, 1996.
[25] Y. Shtessel, J. Buffington, and S. Banda. Tailless aircraft flight control
using multiple time scale reconfigurable sliding modes. IEEE Trans.
Ctrl. Sys. Tech., 10(2):288-62, 2002.
[26] S.A. Snell, D.F. Enns, and Jr. W.L. Garrard. Nonlinear inversion flight
control for a supermaneuverable aircraft. Jnl. Guidance, Control, and
Dynamics, 15(4):976-984, 1992.
[27] Lars Sonneveldt. Nonlinear F-16 model description. Technical report,
Delft University of Technology, The Netherlands, June 2006.
[28] M.S. Spillman. Robust longitudinal flight control design using linear
parameter-varying feedback. Jnl. Guidance, Control, and Dynamics,
23(1):101-108, 2000.
[29] B.L. Stevens and F.L. Lewis. Aircraft Control and Simulation. John
Wiley & Sons, Inc., 2 edition, 2003.
[30] H. Vo and S. Seshagiri. Robust control of F-16 lateral dynamics
(accepted). In 2008 IEEE IECON08, Orlando, Florida, U.S.A, Nov
2008.
[31] A. Young, C. Cao, N. Hovakimyan, and E. Lavretsky. An adaptive
approach to nonaffine control design for aircraft applications. In AIAA
Guidance, Navigation, and Control Conference and Exhibit, Keystone,
CO, USA, August 2006.
[32] K.D. Young, V.I. Utkin, and U. Ozguner. A control engineer-s guide to
sliding mode control. IEEE Trans. Ctrl. Sys. Tech., 7(3):328-342, 1999.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:58217", author = "Ekprasit Promtun and Sridhar Seshagiri", title = "Siding Mode Control of Pitch-Rate of an F-16 Aircraft", abstract = "This paper considers the control of the longitudinal
flight dynamics of an F-16 aircraft. The primary design objective
is model-following of the pitch rate q, which is the preferred
system for aircraft approach and landing. Regulation of the aircraft
velocity V (or the Mach-hold autopilot) is also considered, but
as a secondary objective. The problem is challenging because the
system is nonlinear, and also non-affine in the input. A sliding
mode controller is designed for the pitch rate, that exploits the
modal decomposition of the linearized dynamics into its short-period
and phugoid approximations. The inherent robustness of the SMC
design provides a convenient way to design controllers without gain
scheduling, with a steady-state response that is comparable to that
of a conventional polynomial based gain-scheduled approach with
integral control, but with improved transient performance. Integral
action is introduced in the sliding mode design using the recently
developed technique of “conditional integrators", and it is shown that
robust regulation is achieved with asymptotically constant exogenous
signals, without degrading the transient response. Through extensive
simulation on the nonlinear multiple-input multiple-output (MIMO)
longitudinal model of the F-16 aircraft, it is shown that the conditional
integrator design outperforms the one based on the conventional linear
control, without requiring any scheduling.", keywords = "Sliding-mode Control, Integral Control, Model Following,F-16 Longitudinal Dynamics, Pitch-Rate Control.", volume = "3", number = "9", pages = "1080-7", }
