Autonomous Safety Control of Flight Vehicles

Description

Aerospace vehicles are by their very nature a crucial environment for safety-critical systems. By virtue of an effective safety control system, the aerospace vehicle can maintain high performance despite the risk of component malfunction and multiple disturbances, thereby enhancing aircraft safety and the probability of success for a mission. Autonomous Safety Control of Flight Vehicles presents a systematic methodology for improving the safety of aerospace vehicles in the face of the following occurrences: a loss of control effectiveness of actuators and control surface impairments; the disturbance of observer-based control against multiple disturbances; actuator faults and model uncertainties in hypersonic gliding vehicles; and faults arising from actuator faults and sensor faults. Several fundamental issues related to safety are explicitly analyzed according to aerospace engineering system characteristics; while focusing on these safety issues, the safety control design problems of aircraft are studied and elaborated on in detail using systematic design methods. The research results illustrate the superiority of the safety control approaches put forward. The expected reader group for this book includes undergraduate and graduate students but also industry practitioners and researchers. About the Authors: Xiang Yu is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include safety control of aerospace engineering systems, guidance, navigation, and control of unmanned aerial vehicles. Lei Guo, appointed as Chang Jiang Scholar Chair Professor, is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include anti-disturbance control and filtering, stochastic control, and fault detection with their applications to aerospace systems. Youmin Zhang is a Professor in the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Qu�bec, Canada. His research interests include fault diagnosis and fault-tolerant control, and cooperative guidance, navigation, and control (GNC) of unmanned aerial/space/ground/surface vehicles. Jin Jiang is a Professor in the Department of Electrical & Computer Engineering, Western University, London, Ontario, Canada. His research interests include fault-tolerant control of safety-critical systems, advanced control of power plants containing non-traditional energy resources, and instrumentation and control for nuclear power plants. Cover Half Title Title Page Copyright Page Dedication Contents Preface List of Figures List of Tables 1. The Development of Safety Control Systems 1.1. Introduction 1.2. Philosophical Distinctions between Active and Passive FTCSs 1.2.1. Architecture and Philosophy of an Active FTCS 1.2.2. Architecture and Philosophy of a Passive FTCS 1.2.3. Summary of FTCS 1.2.3.1. Advantages of an Active FTCS 1.2.3.2. Limitations of an Active FTCS 1.2.3.3. Advantages of a Passive FTCS 1.2.3.4. Limitations of a Passive FTCS 1.3. Basic Concept and Classification of Anti-Disturbance Control Systems 1.4. Safety-Critical Issues of Aerospace Vehicles 1.4.1. Safety Bounds 1.4.2. Limited Recovery Time 1.4.3. Finite-Time Stabilization/Tracking 1.4.4. Transient Management 1.4.5. Composite Faults and Disturbances 1.5. Book Outline 2. Hybrid Fault-Tolerant Control System Design against Actuator Failures 2.1. Introduction 2.2. Modeling of Actuator Faults through Control Effectiveness 2.2.1. Function of Actuators in an Aircraft 2.2.2. Analysis of Faults in Hydraulic Driven Control Surfaces 2.2.3. Modeling of Faults in Multiple Actuators 2.3. Objectives and Formulation of Hybrid FTCS 2.4. Design of the Hybrid FTCS 2.4.1. Passive FTCS Design Procedure 2.4.2. Reconfigurable Controller Design Procedure 2.4.3. Switching Function among Different Controllers 2.5. Numerical Case Studies 2.5.1. Description of the Aircraft 2.5.2. Performance Evaluation under the Passive FTCS 2.5.3. Performance Evaluation under Reconfigurable Controller 2.5.4. Nonlinear Simulation of the Hybrid FTCS 2.6. Conclusions 2.7. Notes 3. Safety Control System Design against Control Surface Impairments 3.1. Introduction 3.2. Aircraft Model with Redundant Control Surfaces 3.2.1. Nonlinear Aircraft Model 3.2.2. Actuator Dynamics 3.2.3. Linearized Aircraft Model with Consideration of Faults 3.3. Redundancy Analysis and Problem Formulation 3.3.1. Redundancy Analysis 3.3.2. Problem Statement 3.4. FTCS Design 3.4.1. FTC Design via State Feedback 3.4.2. FTC via Static Output Feedback 3.5. Illustrative Examples 3.5.1. Example 1 (State Feedback Case) 3.5.2. Example 2 (Static Output Feedback Case) 3.5.3. Sensitivity Analysis 3.6. Conclusions 3.7. Notes 4. Multiple Observers Based Anti-Disturbance Control for a Quadrotor UAV 4.1. Introduction 4.2. Quadrotor Dynamics with Multiple Disturbances 4.2.1. Quadrotor Dynamic Model 4.2.2. The Analysis of Disturbances 4.3. Design of Multiple Observers Based Anti-Disturbance Control 4.3.1. Control for Translational Dynamics 4.3.1.1. DO Design 4.3.1.2. ESO Design 4.3.2. Control for Rotational Dynamics 4.3.3. Stability Analysis 4.3.3.1. Position Loop 4.3.3.2. Attitude Loop 4.4. Flight Experimental Results 4.4.1. Flying Arena and System Configuration 4.4.2. Quadcopter Flight Scenarios 4.4.2.1. Test 1 4.4.2.2. Test 2 4.4.2.3. Test 3 4.4.2.4. Test 4 4.4.3. Assessment 4.5. Conclusions 4.6. Notes 5. Safety Control System Design of HGV Based on Adaptive TSMC 5.1. Introduction 5.2. Preliminaries 5.3. Mathematical Model of a HGV 5.3.1. Nonlinear HGV Model 5.3.2. Actuator Fault Model 5.3.3. Problem Statement 5.4. Control-Oriented Model 5.5. Safety Control System Design of a HGV against Faults and Uncertainties 5.5.1. Multivariable TSMC 5.5.2. Safety Control System Based on Adaptive Multivariable TSMC Technique 5.6. Simulation Results 5.6.1. HGV Flight Condition and Simulation Scenarios 5.6.2. Simulation Analysis of Scenario I 5.6.3. Simulation Analysis of Scenario II 5.7. Concluding Remarks 5.8. Notes 6. Safety Control System Design of HGV Based on Fixed-Time Observer 6.1. Introduction 6.2. HGV Modeling and Problem Statement 6.2.1. HGV Dynamics 6.2.2. Control-Oriented Model Subject to Actuator Faults and Uncertainties 6.2.3. Problem Statement 6.3. Fixed-Time Observer 6.3.1. An Overview of the Developed Observer and Accommodation Architecture 6.3.2. Fixed-Time Observer 6.4. Finite-Time Accommodation Design 6.5. Numerical Simulations 6.5.1. HGV Flight Conditions 6.5.2. Simulation Scenarios 6.5.3. Simulation Results 6.6. Conclusions 6.7. Notes 7. Fault Accommodation with Consideration of Control Authority and Gyro Availability 7.1. Introduction 7.2. Aircraft Model and Problem Statement 7.2.1. Longitudinal Aircraft Model Description 7.2.2. Analysis of Flight Actuator Constraints 7.2.3. Failure Modes and Modeling of Flight Actuators 7.2.4. Failure Modes and Modeling of Flight Sensor Gyros 7.2.5. Problem Statement 7.3. Fault Accommodation with Actuator Constraints 7.3.1. An Overview of the Fault Accommodation Scheme 7.3.2. Fault Accommodation within Actuator Control Authority 7.4. Fault Accommodation with Actuator Constraints and Sensorless Angular Rate 7.4.1. An Overview of the SMO-Based Fault Accommodation Scheme with Sensorless Angular Velocity 7.4.2. A SMO for Estimating Angular Rate 7.4.3. Integrated Design of SMO and Fault Accommodation 7.5. Simulation Studies 7.5.1. Simulation Environment Description 7.5.2. Simulation Scenarios 7.5.3. Results of Case I and Assessment 7.5.4. Results of Case II and Assessment 7.6. Conclusions 7.7. Notes A. Appendix for Chapter 2 B. Appendix for Chapter 3: Part 1 C. Appendix for Chapter 3: Part 2 D. Appendix for Chapter 3: Part 3 E. Appendix for Chapter 4 E.1. Experimental Parameters E.1.1. Physical Parameters E.1.2. Gains Bibliography