Development of Immunity Based Adaptive Control Laws for Aircraft Fault Tolerance

2014 ◽  
Author(s):  
Andres E. Perez ◽  
Hever Moncayo ◽  
Israel Moguel ◽  
Mario G. Perhinschi ◽  
Dia Al Azzawi ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Immune System ◽  
Degrees Of Freedom ◽  
Performance Metrics ◽  
Fault Tolerant ◽  
System Response ◽  
Control Laws ◽  
Structural Failures ◽  
And Performance ◽  
Control Surfaces

This paper presents the development and testing of a novel fault tolerant adaptive control system based on a bio-inspired immunity-based mechanism applied to an aircraft fighter model. The proposed baseline control laws use a non-linear dynamic inversion and model reference adaptive control on the inner loops of the aircraft dynamics. In this new approach, the baseline controllers are augmented with an artificial immune system mechanism that relies on a direct compensation inspired primarily by the biological immune system response. The effectiveness of the approach is demonstrated through a full 6 degrees-of-freedom aircraft model interfaced with a Flight gear environment. The performance of the proposed control laws are investigated under a novel set of performance metrics, which quantify the level of input activity from the pilot and from the control surfaces in order to ensure the stability and performance of the aircraft under different actuator and structural failures. Optimization of the parameters of the artificial immunity system is performed using a genetic algorithm. The results show that the optimized fault tolerant adaptive control laws improve significantly the failure rejection using minimum pilot input and control surfaces activity under upset flight conditions.

Adaptive Control of Nonlinear, Uncertain Systems Using Local Function Estimation

1998 ◽  
Vol 120 (4) ◽  
pp. 429-438 ◽  
Author(s):  
T.-J. Yeh ◽  
K. Youcef-Toumi
Keyword(s):  
Adaptive Control ◽  
Uncertain Systems ◽  
Local Approximation ◽  
Magnetic Bearing ◽  
System Response ◽  
Practical Implementation ◽  
Function Estimation ◽  
Nonlinear Uncertain Systems ◽  
And Performance ◽  
Adaptation Law

An adaptive control scheme is proposed for controlling a certain class of nonlinear, uncertain systems. When a local approximation of the system function using its Taylor’s expansion is possible, this scheme provides an adaptation law to estimate such an approximation. With a proper sampling rule, the neighborhood of approximation can be moved from time to time in order to capture the fast changing system dynamics. Practical implementation issues are also considered to avoid exciting the unmodeled dynamics, to reduce the noise sensitivity, and accommodate the various signal levels in the system response. The important features and performance of the proposed controller are illustrated through simulations and experimental results associated with a magnetic bearing system.

A Bio-Inspired Adaptive Control Compensation System for an Aircraft Outside Bounds of Nominal Design

2015 ◽  
Vol 137 (9) ◽  
Author(s):  
Andres E. Perez ◽  
Hever Moncayo ◽  
Mario Perhinschi ◽  
Dia Al Azzawi ◽  
Adil Togayev
Keyword(s):  
Adaptive Control ◽  
Immune System ◽  
Degrees Of Freedom ◽  
Humoral Response ◽  
Control Technique ◽  
Tracking Errors ◽  
Control Approach ◽  
Handling Qualities ◽  
Genetic Algorithm Approach ◽  
Living Organisms

This paper presents a novel bio-inspired adaptive control technique that has been designed to maintain the performance of an aircraft under upset conditions. The proposed control approach is inspired by biological principles that govern the humoral response of the immune system of living organisms and is intended to reduce pilot effort while maintaining adequate aircraft operation outside bounds of nominal design. The immunity-based control parameters are optimized offline for multiple sets of failures using a genetic algorithm approach. The performance of the immunity-based augmentation is compared with a neural network (NN)-based augmentation. Different piloted tests were performed on a six degrees-of-freedom (6DOF) motion-based simulator for different types of maneuvers under several flight conditions. The results show that the artificial immune system (AIS) proposed scheme improves the aircraft handling qualities by reducing the tracking errors (TEs) and improving the pilot response required to maintain control of the aircraft under upset conditions.

Flight data reduction methodology for performance evaluation and comparison of model-following adaptive control laws

2007 ◽  
Vol 111 (1126) ◽  
pp. 807-814
Author(s):  
M. G. Perhinschi ◽  
M. R. Napolitano
Keyword(s):  
Adaptive Control ◽  
Performance Evaluation ◽  
Data Reduction ◽  
Fault Tolerant ◽  
Angular Rate ◽  
Tracking Error ◽  
Atmospheric Conditions ◽  
Control Laws ◽  
Flight Data ◽  
Model Following

Abstract Even small differences in atmospheric and/or flight conditions can potentially impact significantly the evaluation of the performance of the control laws and prevent a correct comparison, especially in the case of reduced size aircraft (autonomous or remotely piloted). Consistent deterministic control inputs can only be guaranteed through some form of computer-based on-board excitation system. In this paper, a methodology is proposed for flight data reduction with the purpose of accounting for non-homogeneous atmospheric conditions and inconsistent pilot inputs. The method is developed for the specific purpose of comparing model-following adaptive control laws. Performance evaluation parameters based on angular rate tracking errors are defined and used for the comparison. As a result of this approach, an additive correction is applied to the angular rate measurements to compensate for non-homogeneous turbulence effects. A multiplicative correction factor is applied to the angular rate tracking error to take into account non-identical pilot inputs. The procedure is validated with simulation and flight data obtained in the process of designing a set of fault tolerant control laws based on non-linear dynamic inversion with neural network augmentation for the reduced size WVU YF-22 aircraft model.

A stability-guaranteed smooth-scheduled MIMO robust emergency autopilot for a lateral surface jammed UAV

2017 ◽  
Vol 232 (12) ◽  
pp. 2286-2299
Author(s):  
İsmail Hakkı Şahin ◽  
Coşku Kasnakoğlu
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Autonomous Navigation ◽  
Control Laws ◽  
Unmanned Air Vehicle ◽  
Air Vehicle ◽  
The Disabled ◽  
Aerial Vehicle ◽  
And Performance ◽  
Control Surfaces

This paper investigates a methodology for autopilot design for an unmanned air vehicle where one of the lateral control surfaces, i.e. the aileron or rudder, becomes jammed and unusable. The autopilot handles the automatic recovery, autonomous guidance and landing of the disabled unmanned aerial vehicle. An accurate nonlinear aircraft model is used to build local flight control laws using loop-shaping to decouple longitudinal and lateral channels. The design is carried out in a way to allow smooth scheduling over the local controllers without losing stability and performance, culminating in a robust emergency autopilot over the full flight envelope. The autopilot is tested on an example distress scenario involving aileron surface jam. It is confirmed through simulations that the autopilot design is capable of resuming safe flight and autonomous navigation under the fault scenario and is able to safely land the unmanned aerial vehicle to a target runway.

scholarly journals A New Adaptive Control for Five-Phase Fault-Tolerant Flux-Switching Permanent Magnet Motor

2016 ◽  
Vol 2016 ◽  
pp. 1-14
Author(s):  
Hongyu Tang ◽  
Wenxiang Zhao ◽  
Chenyu Gu
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
High Efficiency ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Backstepping Method ◽  
Control Laws ◽  
Mode Control

The five-phase fault-tolerant flux-switching permanent magnet (FT-FSPM) motor can offer high efficiency and high fault-tolerant capability. In this paper, its operation principle is presented briefly and its mathematical model is derived. Further, a new adaptive control for an FT-FSPM motor, based on the backstepping method and the sliding mode control strategy, is proposed. According to the backstepping method, the current controllers and voltage control laws are designed to track the speed and minimize the current static error, which enhance the dynamic response and the ability to suppress external disturbances. In order to overcome the influence of parameter variations, according to sliding mode control theory, the virtual control variables and the adaptive algorithm are utilized to approach uncertainty terms. Three Lyapunov functions are designed, and the stability of the closed-loop system is analyzed in detail. Finally, both simulation and experimental results are presented to verify the proposed control method.

Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs

2019 ◽  
Author(s):  
Johannes Verberne ◽  
Hever Moncayo
Keyword(s):  
Adaptive Control ◽  
Degrees Of Freedom ◽  
Flight Test ◽  
Monte Carlo Analysis ◽  
Control Algorithms ◽  
Wind Disturbance ◽  
Total Energy Consumption ◽  
Nonlinear Simulation ◽  
Control Laws ◽  
The Individual

Abstract This paper presents the evaluation of adaptive control augmentation algorithms for wind disturbance rejection in small rotorcraft UAVs. The following control algorithms are developed in an effort to mitigate wind effects: baseline nonlinear dynamic inversion (NLDI), NLDI augmented with adaptive artificial neural networks (ANN), and NLDI augmented with ℒ1 output-feedback adaptive control. A six degrees-of-freedom nonlinear simulation environment is developed to evaluate the performance under different wind disturbance conditions. Monte Carlo analysis and a set of metrics are applied to compare and assess the overall performance of the developed control algorithms within a predefined wind envelope. These metrics provide a performance evaluation for trajectory tracking, angular rates tracking, attitude angle tracking and total energy consumption. The individual metrics are combined to provide the global performance index for the quadrotor with the developed control algorithms. Outdoor flight test results are included in this paper and the capabilities of these controllers to reduce wind disturbance effects on different flight tracking parameters are analyzed. The performance of the developed control laws is evaluated under nominal, low, medium and high wind disturbance conditions.

scholarly journals Fault tolerant control of a quadrotor using C 1 adaptive control

2016 ◽  
Vol 4 (1) ◽  
pp. 43-66 ◽  
Author(s):  
Dan Xu ◽  
James Ferris Whidborne ◽  
Alastair Cooke
Keyword(s):  
Adaptive Control ◽  
Fault Tolerance ◽  
Degrees Of Freedom ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Flight Test ◽  
Adaptive Controller ◽  
Content Type ◽  
Gyroscopic Effects ◽  
High Level

Purpose – The growing use of small unmanned rotorcraft in civilian applications means that safe operation is increasingly important. The purpose of this paper is to investigate the fault tolerant properties to faults in the actuators of an C 1 adaptive controller for a quadrotor vehicle. Design/methodology/approach – C 1 adaptive control provides fast adaptation along with decoupling between adaptation and robustness. This makes the approach a suitable candidate for fault tolerant control of quadrotor and other multirotor vehicles. In the paper, the design of an C 1 adaptive controller is presented. The controller is compared to a fixed-gain LQR controller. Findings – The C 1 adaptive controller is shown to have improved performance when subject to actuator faults, and a higher range of actuator fault tolerance. Research limitations/implications – The control scheme is tested in simulation of a simple model that ignores aerodynamic and gyroscopic effects. Hence for further work, testing with a more complete model is recommended followed by implementation on an actual platform and flight test. The effect of sensor noise should also be considered along with investigation into the influence of wind disturbances and tolerance to sensor failures. Furthermore, quadrotors cannot tolerate total failure of a rotor without loss of control of one of the degrees of freedom, this aspect requires further investigation. Practical implications – Applying the C 1 adaptive controller to a hexrotor or octorotor would increase the reliability of such vehicles without recourse to methods that require fault detection schemes and control reallocation as well as providing tolerance to a total loss of a rotor. Social implications – In order for quadrotors and other similar unmanned air vehicles to undertake many proposed roles, a high level of safety is required. Hence the controllers should be fault tolerant. Originality/value – Fault tolerance to partial actuator/effector faults is demonstrated using an C 1 adaptive controller.

Aircraft failure detection and identification over an extended flight envelope using an artificial immune system

2011 ◽  
Vol 115 (1163) ◽  
pp. 43-55 ◽  
Author(s):  
H. Moncayo ◽  
M. G. Perhinschi ◽  
J. Davis
Keyword(s):  
Immune System ◽  
Artificial Immune System ◽  
Failure Detection ◽  
Artificial Immune ◽  
Control Laws ◽  
Detection Scheme ◽  
Direct Adaptive Control ◽  
Detection And Identification ◽  
Flight Envelope ◽  
Structural Failures

AbstractAn integrated artificial immune system-based scheme that can operate over extended areas of the flight envelope is proposed in this paper for the detection and identification of a variety of aircraft sensor, actuator, propulsion, and structural failures/damages. A hierarchical multi-self strategy has been developed in which different self configurations are selected for detection and identification of specific abnormal conditions. Data collected using a motion-based flight simulator were used to define the self for a wide area of the flight envelope and to test and validate the scheme. The aircraft model represents a supersonic fighter, including model-following direct adaptive control laws based on non-linear dynamic inversion and artificial neural network augmentation. The proposed detection scheme achieves low false alarm rates and high detection and identification rates for all the categories of failures considered.

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