Additive-state-decomposition-based station-keeping control for autonomous aerial refueling
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. LETTER .
November 2021, Vol. 64 219202:1–219202:3 https://doi.org/10.1007/s11432-019-2814-x
Additive-state-decomposition-based station-keeping control for autonomous aerial refueling Jinrui REN, Quan QUAN* , Haibiao MA & Kai-Yuan CAI School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China Received 28 November 2019/Revised 29 December 2019/Accepted 5 February 2020/Published online 31 July 2020
Citation Ren J R, Quan Q, Ma H B, et al. Additive-state-decomposition-based station-keeping control for autonomous aerial refueling. Sci China Inf Sci, 2021, 64(11): 219202, https://doi.org/10.1007/s11432-019-2814-x
Dear editor, Aerial refueling (AR) is an effective method of increasing the endurance and range of aircraft by refueling them in flight [1, 2]. Station-keeping control is the basis of autonomous aerial refueling (AAR). The station-keeping control for AAR is a difficult task for two main reasons. First, the receiver is disturbed by the atmospheric turbulence and the wake vortex of the tanker. Secondly, owing to the fuel injection in the refueling process, the mass and the center of mass of the receiver will change. Many researches have focused on developing stationkeeping control methods for AAR, for example, the linear quadratic regulator (LQR) method [3], the L1 adaptive control method [4], the proportional-integral-derivative (PID) control method, and active disturbance rejection control (ADRC) technique [5]. Among these existing methods, most station-keeping controllers are designed by using some control methods for linear systems after linearizing the nonlinear receiver system directly. However, abandoning the nonlinear term directly may limit the control effect and make the final closed-loop system fragile to system perturbation and external disturbances. If the nonlinearity information of the nonlinear receiver system can be considered properly, better control effect would be expected. Thus, in this study, an additive-state-decomposition-based (ASDbased) [6] station-keeping control method is proposed for the probe-and-drogue AAR, which is a typical representative of AAR. Problem formulation. Because of fuel transfer in refueling, the receiver aircraft is a system of varying mass and moments of inertia. For station-keeping control, taking the variable mass receiver model into account is a big difference from other conventional control. Readers can refer to [7] for the variable mass receiver model. In the tanker frame, the variable mass receiver model can be represented by a compact form: x˙ r = f (xr , ur , d) ,
(1)
where xr = [ xr yr hr φ θ ψ ur vr wr p q r ]T is the state
vector, ur = [ δt δe δa δr ]T is the input vector, and d denotes various aerodynamic disturbances including the atmospheric turbulence and the tanker vortex. Suppose that, in the level and forward flight, ur = vr = wr = p = q = r = 0. Under this trim condition, the trimmed state and trimmed input are x∗r and u∗r . By defin˜ r = xr −x∗r , ing the disturbed state and disturbed input as x ˜ r
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