Nonlinear Output Feedback for HL-20 Flight Control Using Back-Stepping Observer
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Nonlinear Output Feedback for HL-20 Flight Control Using Back-Stepping Observer Iman Hosseini 1 & Mojtaba Mirzaei 2
&
Mohammad Hassan Asemani 1
Received: 22 March 2020 / Accepted: 20 August 2020 # Springer Nature B.V. 2020
Abstract This paper investigates the problem of an observer-based controller for the flight control of the HL-20 flight vehicle in the low altitude flight stage. The difficulty arises when the coupling of the control channels effects on each other. Moreover, due to limitations of rate gyroscope drift, free gyroscopes with high-precision Euler angles are considered. Consequently, for a control purpose, output feedback is used and by considering the coupling effects as disturbance, an observer is designed using the backstepping method to estimate angular rates. These estimations are used in the controller design and with the Lyapunov function and trajectory initialization, globally uniformly bounded is achieved for the observer-based controlled system. The validity and effectiveness of the designed controller for the flight controller are shown by simulation results. Keywords Output feedback . Back-stepping observer . Observer-based controller . Free gyroscopes . Trajectory initialization . HL-20 flight vehicle
1 Introduction Flight control is a system that combines the dynamic characteristics of an aircraft and flight controllers to form the system dynamic characteristics of the vehicle under the action of feedback control. Many researchers investigated the problems of stability and control of aircraft. The origin of the stability and control problem of an aircraft can be found in aerodynamics and the classical theory [1]. Many traditional flight control strategies are developed based on “small perturbation theory” [2]. In this theory, the aircraft dynamics around the trim condition are assumed to be linear time-invariant. Moreover, longitudinal and lateral motions are independent. Based on these assumptions, the dynamic equations can be decoupled and treated independently [3–6]. There are different approaches to tackle the flight control problem [6–12]. In [7], the nonlinear inverse dynamic is used to improve the performance in comparison with conventional
* Mojtaba Mirzaei [email protected] 1
School of Power & Control Engineering Department, Shiraz University, Shiraz, Iran
2
Hydro-Aeronautical Research Center, Shiraz University, Shiraz, Iran
flight control methods. A robust control strategy for nonminimum phase systems is developed using root locus in the presence of external disturbance in [8]. In [9], the observer/ Kalman filter identification method is applied to the problem of online system identification of locally linear aircraft dynamic models. As a result, the controller can be designed using locally linear dynamics. Moreover, the adaptive framework is used in the controller design [10–13] in which an update law is proposed to reduce the effect of uncertainties. In [14], a sliding mode disturbance observer is used for the adaptive control of the flight vehicle. In [15] neu
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