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CEAS EuroGNC 2022

Passivity Based Cross-Track Control of a Fixed-Wing Aircraft
Jean-Michel Fahmi Graduate Student, Virginia Tech, Kevin T. Crofton Department of Aerospace and Ocean Engineering, 24060, Blacksburg, VA, USA.
Craig A. Woolsey Professor, Virginia Tech, Kevin T. Crofton Department of Aerospace and Ocean Engineering, 24060, Blacksburg, VA, USA.
Abstract:
The paper addresses the time-varying directional stabilization problem for a small, fixed-wing unmanned aircraft with using nonlinear feedback control of the thrust and the three control moments about the roll, pitch, and yaw axes. The control law makes use of the passivity property gained by modeling the aircraft as a port-Hamiltonian system. The static state feedback control law is designed following an energy-shaping approach to leverage the open-loop system's port-Hamiltonian structure in order to construct a control Lyapunov function. The proof of stability requires only basic assumptions about the aerodynamic forces and moments, rather than explicit formulas, and it ensures asymptotic stability of the desired flight condition within a sizeable region of attraction. The directional stabilization algorithm is then extended by including a line-of-sight guidance law and varying the direction as a function of position relative to a desired path, rather than as a function of time. The resulting control law and the associated proof of stability follow similarly to that of the time-varying directional stabilization problem.
 View PDF CEAS-GNC-2022-023


Jean-Michel Fahmi, Craig A. Woolsey: Passivity Based Cross-Track Control of a Fixed-Wing Aircraft. Proceedings of the 2022 CEAS EuroGNC conference. Berlin, Germany. May 2022. CEAS-GNC-2022-023.
BibTeX entry:

@Incollection{CEAS-GNC-2022-023,
    authors = {Fahmi, Jean-Michel and Woolsey, Craig A.},
    title = {Passivity Based Cross-Track Control of a Fixed-Wing Aircraft},
    booktitle = {Proceedings of the 2022 {CEAS EuroGNC} conference},
    address = {Berlin, Germany},
    month = may,
    year = {2022},
    note = {CEAS-GNC-2022-023}
}