Experimental validation of a metrics driven ℒ1 adaptive control in the presence of general unmodeled dynamics

Ioannis Kitsios, Vladimir Dobrokhodov, Isaac Kaminer, Kevin D. Jones, Enric Xargay, Naira Hovakimyan, Chengyu Cao, Mariano I. Lizarraga, Irene M. Gregory, Nhan T. Nguyen, Kalmanje S. Krishnakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper summarizes the results of an ongoing effort in the development and flight validation and verification of the metrics driven ℒ1 adaptive flight control system. In particular, the paper develops a unified framework for design, implementation, validation and verification of flight critical control systems including: (i) definition of experimental control validation technique that accounts for control surface failures and generalized plant uncertainties or unmodeled dynamics; (ii) tuning the developed ℒ1 adaptive controller to explicitly address performance metrics in the presence of control actuator/surface failures and modeling uncertainties under adverse flight conditions; (iii) development of a flight control system testing environment that includes both hardware and software setup for implementation of the resulting algorithms onboard of a small unmanned aerial vehicle; and (iv) designing and conducting of a comprehensive flight test validation and verification program that demonstrates performance of the proposed adaptive control algorithms in the presence of failures.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2009
EventAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, IL, United States
Duration: Aug 10 2009Aug 13 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit
CountryUnited States
CityChicago, IL
Period8/10/098/13/09

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kitsios, I., Dobrokhodov, V., Kaminer, I., Jones, K. D., Xargay, E., Hovakimyan, N., Cao, C., Lizarraga, M. I., Gregory, I. M., Nguyen, N. T., & Krishnakumar, K. S. (2009). Experimental validation of a metrics driven ℒ1 adaptive control in the presence of general unmodeled dynamics. In AIAA Guidance, Navigation, and Control Conference and Exhibit [2009-6188] (AIAA Guidance, Navigation, and Control Conference and Exhibit).