Output tracking of VTOL aircraft with delayed attitude measurements

Bo Zhu; Xinhua Wang; Kai Yuan Cai

doi:10.1109/CDC.2009.5399997

Output tracking of VTOL aircraft with delayed attitude measurements

Bo Zhu^*
, Xinhua Wang
, Kai Yuan Cai

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In this paper we consider the flight-trajectory tracking problem of an input-disturbed non-minimum phase vertical takeoff and landing (VTOL) aircraft with delayed attitude measurements. By applying the first-order Padé approximation method to deal with the time delays, the problem is reduced to the output tracking of a new high-order non-minimum phase system without delay, whose dynamics are then separated into minimum-phase and non-minimum-phase parts. By using Devasia's stable noncausal inversion method, the ideal internal states of the non-minimum-phase subsystem are obtained and two error subsystems are ultimately constructed. We propose two low-dimensional sliding mode controllers to stabilize the error subsystems, which can render the overall closed-loop system stable in spite of the existence of disturbances. Simulations are performed to show the main results of this paper.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2528-2533
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5399997
State	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09

Access to Document

10.1109/CDC.2009.5399997

Cite this

Zhu, B., Wang, X., & Cai, K. Y. (2009). Output tracking of VTOL aircraft with delayed attitude measurements. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 2528-2533). Article 5399997 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5399997

Zhu, Bo ; Wang, Xinhua ; Cai, Kai Yuan. / Output tracking of VTOL aircraft with delayed attitude measurements. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 2528-2533 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{b64cc8c0297b40498f0e7c7493f881d3,

title = "Output tracking of VTOL aircraft with delayed attitude measurements",

abstract = "In this paper we consider the flight-trajectory tracking problem of an input-disturbed non-minimum phase vertical takeoff and landing (VTOL) aircraft with delayed attitude measurements. By applying the first-order Pad{\'e} approximation method to deal with the time delays, the problem is reduced to the output tracking of a new high-order non-minimum phase system without delay, whose dynamics are then separated into minimum-phase and non-minimum-phase parts. By using Devasia's stable noncausal inversion method, the ideal internal states of the non-minimum-phase subsystem are obtained and two error subsystems are ultimately constructed. We propose two low-dimensional sliding mode controllers to stabilize the error subsystems, which can render the overall closed-loop system stable in spite of the existence of disturbances. Simulations are performed to show the main results of this paper.",

author = "Bo Zhu and Xinhua Wang and Cai, \{Kai Yuan\}",

year = "2009",

doi = "10.1109/CDC.2009.5399997",

language = "英语",

isbn = "9781424438716",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2528--2533",

booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

address = "美国",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

}

Zhu, B, Wang, X & Cai, KY 2009, Output tracking of VTOL aircraft with delayed attitude measurements. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399997, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2528-2533, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5399997

Output tracking of VTOL aircraft with delayed attitude measurements. / Zhu, Bo; Wang, Xinhua; Cai, Kai Yuan.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 2528-2533 5399997 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Output tracking of VTOL aircraft with delayed attitude measurements

AU - Zhu, Bo

AU - Wang, Xinhua

AU - Cai, Kai Yuan

PY - 2009

Y1 - 2009

N2 - In this paper we consider the flight-trajectory tracking problem of an input-disturbed non-minimum phase vertical takeoff and landing (VTOL) aircraft with delayed attitude measurements. By applying the first-order Padé approximation method to deal with the time delays, the problem is reduced to the output tracking of a new high-order non-minimum phase system without delay, whose dynamics are then separated into minimum-phase and non-minimum-phase parts. By using Devasia's stable noncausal inversion method, the ideal internal states of the non-minimum-phase subsystem are obtained and two error subsystems are ultimately constructed. We propose two low-dimensional sliding mode controllers to stabilize the error subsystems, which can render the overall closed-loop system stable in spite of the existence of disturbances. Simulations are performed to show the main results of this paper.

AB - In this paper we consider the flight-trajectory tracking problem of an input-disturbed non-minimum phase vertical takeoff and landing (VTOL) aircraft with delayed attitude measurements. By applying the first-order Padé approximation method to deal with the time delays, the problem is reduced to the output tracking of a new high-order non-minimum phase system without delay, whose dynamics are then separated into minimum-phase and non-minimum-phase parts. By using Devasia's stable noncausal inversion method, the ideal internal states of the non-minimum-phase subsystem are obtained and two error subsystems are ultimately constructed. We propose two low-dimensional sliding mode controllers to stabilize the error subsystems, which can render the overall closed-loop system stable in spite of the existence of disturbances. Simulations are performed to show the main results of this paper.

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DO - 10.1109/CDC.2009.5399997

M3 - 会议稿件

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SN - 9781424438716

T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 15 December 2009 through 18 December 2009

ER -

Zhu B, Wang X, Cai KY. Output tracking of VTOL aircraft with delayed attitude measurements. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 2528-2533. 5399997. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5399997

Output tracking of VTOL aircraft with delayed attitude measurements

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