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PDE Boundary Control for Flexible Articulated Wings on a Robotic Aircraft

Paranjape, Aditya A. and Guan, Jinyu and Chung, Soon-Jo and Krstic, Miroslav (2013) PDE Boundary Control for Flexible Articulated Wings on a Robotic Aircraft. IEEE Transactions on Robotics, 29 (3). pp. 625-640. ISSN 1552-3098.

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This paper presents a boundary control formulation for distributed parameter systems described by partial differential equations (PDEs) and whose output is given by a spatial integral of weighted functions of the state. This formulation is directly applicable to the control of small robotic aircraft with articulated flexible wings, where the output of interest is the net aerodynamic force or moment. The deformation of flexible wings can be controlled by actuators that are located at the root or the tip of the wing. The problem of designing a tracking controller for wing twist is addressed using a combination of PDE backstepping for feedback stabilization and feed-forward trajectory planning. We also design an adaptive tracking controller for wing tip actuators. For wing bending, we present a novel control scheme that is based on a two-stage perturbation observer. A trajectory planning-based feed-forward tracker is designed using only one component of the observer whose dynamics are homogeneous and amenable to trajectory planning. The two components, put together, estimate the external forces and unmodeled system dynamics. The effectiveness of the proposed controllers for twist and bending is demonstrated by simulations. This paper also reports experimental validation of the perturbation-observer-based controller for beam bending.

Item Type:Article
Related URLs:
URLURL TypeDescription
Paranjape, Aditya A.0000-0002-3164-3215
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2013 IEEE. Manuscript received May 20, 2012; revised September 30, 2012; accepted January 12, 2013. Date of publication February 11, 2013; date of current version June 3, 2013. This paper was recommended for publication by Associate Editor M. Vendittelli and Editor B. J. Nelson upon evaluation of the reviewers’ comments. This work was supported in part by the Air Force Office of Scientific Research under the Young Investigator Award Program (FA95500910089) and in part by the U.S. Army Research Office under Award W911NF-10-1-0296.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA95500910089
Army Research Office (ARO)W911NF-10-1-0296
Subject Keywords:Terms—Distributed parameter systems, nonlinear control systems, robot control, robot motion, unmanned aerial vehicles
Issue or Number:3
Record Number:CaltechAUTHORS:20161123-113256359
Persistent URL:
Official Citation:A. A. Paranjape, J. Guan, S. J. Chung and M. Krstic, "PDE Boundary Control for Flexible Articulated Wings on a Robotic Aircraft," in IEEE Transactions on Robotics, vol. 29, no. 3, pp. 625-640, June 2013. doi: 10.1109/TRO.2013.2240711
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72280
Deposited By: Ruth Sustaita
Deposited On:28 Nov 2016 19:46
Last Modified:09 Mar 2020 13:19

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