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A review of control strategies used for morphing aircraft applications

Chinese Journal of Aeronautics 2024年第4期37卷 436-463页

作者： Muhammed S.PARANCHEERIVILAKKATHIL Jafar S.PILAKKADAN Rafic M.AJAJ Mohammadreza AMOOZGAR Davood ASADI Yahya ZWEIRI Michael I.FRISWELL Department of Aerospace Engineering Khalifa University of Science and TechnologyAbu DhabiUnited Arab Emirates Department of Aerospace Engineering Advanced Research and Innovation Center(ARIC)Khalifa University of Science and TechnologyAbu DhabiUnited Arab Emirates Department of Mechanical Materials&Manufacturing EngineeringUniversity of NottinghamNottingham NG72RDUK Department of Aerospace Engineering Adana Alparslan Turkes Science and Technology UniversityTurkey College of Engineering Swansea UniversitySwansea SA18ENUK

This paper reviews the various control algorithms and strategies used for fixed-wing morphing aircraft applications. It is evident from the literature that the development of control algorithms for morphing aircraft technologies focused on three main areas. The first area is related to precise control of the shape of morphing concepts for various flight conditions. The second area is mainly related to the flight dynamics, stability, and control aspects of morphing aircraft. The third area deals mainly with aeroelastic control using morphing concepts either for load alleviation purposes and/or to control the instability boundaries. The design of controllers for morphing aircraft/wings is very challenging due to the large changes that can occur in the structural, aerodynamic, and inertial characteristics. In addition, the type of actuation system and actuation rate/speed can have a significant effect on the design of such controllers. The aerospace community is in strong need of such a critical review especially as morphing aircraft technologies move from fundamental research at a low Technology Readiness Level(TRL) to real-life applications. This critical review aims to identify research gaps and propose future directions. In this paper, research activities/papers are categorized according to the control strategy used. This ranges from simple Proportional Integral Derivative(PID) controllers at one end to complex robust adaptive controllers and deep learning algorithms at the other end. This includes analytical, computational, and experimental studies. In addition, the various dynamic models used and their fidelities are highlighted and discussed.

关键词： Control strategies morphing aircraft Shape morphing Flight dynamics Aeroelasticity

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A novel adaptive coordinated tracking control scheme for a morphing aircraft with telescopic wings

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Chinese Journal of Aeronautics 2024年第2期37卷 148-162页

作者： Enmei WANG Hao LU Jianchun ZHANG Chenliang WANG Jianzhong QIAO Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Inspired by flight biology,morphing flight technology has great potential to improve the adaptability and maneuverability of aircraft.This paper is devoted to the flight control problem of morphing aircraft,and aimed at safe and fuel-saving flight through morphing actively.Specifically,the longitudinal dynamics of a morphing aircraft with telescopic wings is modelled as a strict-feedback nonlinear system.Through fitting the expression of aerodynamic parameters by the mor-phing ratio,the model uncertainties induced by morphing errors are embedded in the dynamics.To meet the safety and fuel-saving requirements,an Adaptive Coordinated Tracking Control Scheme(ACTCS)is then proposed,which consists of a morphing control module and a tracking control module.For the morphing control module,an on-line morphing decision model is given in an optimization process with respect to the morphing ratio,and a second-order tracking filter is introduced to smooth the decision output and ensure the physical realizability.For the tracking control module,the novel adaptive controllers for the velocity and altitude subsystems are proposed based on the dynamic surface control method,in which adaptive mechanisms are designed to com-pensate for the model uncertainties.Finally,the proposed ACTCS is simulated in nine different cases of the test flight mission,to verify its effectiveness,robustness and fuel-saving effect.

关键词： morphing aircraft Adaptive tracking control morphing decision Dynamic surface control morphing error

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Hardware-in-loop adaptive neural control for a tiltable V-tail morphing aircraft

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Defence Technology（防务技术） 2023年第4期22卷 197-211页

作者： Fu-xiang Qiao Jing-ping Shi Xiao-bo Qu Yong-xi Lyu School of Automation Northwestern Polytechnical UniversityXi'an710129China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi'an710129China

This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom is established.The first-order sliding mode differentiator(FSMD)is applied to the control scheme to avoid the problem of“differential explosion”.Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model,and an ANC controller is proposed based on this design idea.The stability of the proposed ANC controller is proved using Lyapunov theory,and the tracking error of the closed-loop system is semi-globally uniformly bounded.The effectiveness and robustness of the proposed method are verified by numerical simulations and hardware-in-the-loop(HIL)simulations.

关键词： morphing aircraft Back-stepping control Adaptive control Neural networks Radial basis function

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Design,modeling,and control of morphing aircraft:A review

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Chinese Journal of Aeronautics 2022年第5期35卷 220-246页

作者： Lingling CHU Qi LI Feng GU Xintian DU Yuqing HE Yangchen DENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Shenyang aircraft Design&Research Institute Shenyang 110034China

A morphing aircraft can adapt its configuration to suit different types of tasks,which is also an important requirement of Unmanned Aerial Vehicles(UAV).The successful development of an unmanned morphing aircraft involves three steps that determine its ability and intelligent:configuration design,dynamic modeling and flight control.This study conducts a comprehensive survey of morphing aircraft.First,the methods to design the configuration of a morphing aircraft are presented and analyzed.Then,the nonlinear dynamic characteristics and aerodynamic interference caused by a morphing wing are described.Subsequently,the dynamic modeling and flight control methods for solving the flight control problems are summarized with respect to these features.Finally,the general as well as special challenges ahead of the development of intelligent morphing aircraft are discussed.The findings can provide a theoretical and technical reference for designing future morphing aircraft or morphing-wing UAVs.

关键词： aircraft design Dynamic modeling Fault tolerance Flight control Intelligent material morphing aircraft Unmanned Aerial Vehicles(UAV)

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Flexible smart sensing skin for“Fly-by-Feel”morphing aircraft

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Science China(Technological Sciences) 2022年第1期65卷 1-29页

作者： HUANG YongAn ZHU Chen XIONG WenNan WANG Yu JIANG YongGang QIU Lei GUO DongLiang HOU Chao JIANG Shan YANG ZhaoXi WANG Bo WANG Lu YIN ZhouPing State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China Bionic and Micro/Nano/Bio Manufacturing Technology Research Center School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China Department of Engineering Mechanics Northwestern Polytechnical UniversityXi’an 710072China The 38th Research Institute of China Electronics Technology Group Corporation Hefei 230088China

Flexible smart sensing skin is a key enabling technology for the future"Fly-by-Feel"control of morphing aircraft.It represents the next-generation skin of aircraft that can exhibit a more powerful sensing function than a conventional one and could be mounted on arbitrary curvilinear surfaces,especially for advanced autonomic,morphing aircraft.Recent significant technical advances in flexible electronics have overcome many historic drawbacks of conventional smart skin,e.g.,only a limited number of discrete block sensors can be integrated due to the inevitable structural damage and heavy guidelines.Herein,we review the key developments in flexible sensors technology and highlight both the state-of-the-art devices and the potential applications for the measurement of aircraft.We begin with the importance of flexible smart skin for morphing aircraft and then expand to the latest progress in various types of flexible sensors.Then we highlight flexible sensors as smart skin to measure aerodynamic parameters and monitor the structural health,and further to achieve the Fly-by-Feel control.Finally,the challenges and opportunities on flexible smart sensing skin are discussed,from the functional design to practical applications.

关键词： flexible electronics smart skin morphing aircraft flexible sensors

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Design and applications of morphing aircraft and their structures

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Frontiers of Mechanical Engineering 2023年第3期18卷 1-20页

作者： Jihong ZHU Jiannan YANG Weihong ZHANG Xiaojun GU Han ZHOU State IJR Center of Aerospace Design and Additive Manufacturing School of Mechanical EngineeringNorthwestern Polytechnical UniversityXi'an710072China MIIT Laboratory of Metal Additive Manufacturing and Innovative Design NPU-QMUL Joint Research InstituteNorthwestern Polytechnical UniversityXi'an710072China Institute of Intelligence Material and Structure Unmanned System TechnologiesNorthwestern Polytechnical UniversityXi'an 710072China

morphing aircraft can adaptively regulate their aerodynamic layout to meet the demands of varying flight conditions,improve their aerodynamic efficiency,and reduce their energy consumption.The design and fabrication of high-performance,lightweight,and intelligent morphing structures have become a hot topic in advanced aircraft design.This paper discusses morphing aircraft development history,structural characteristics,existing applications,and future prospects.First,some conventional mechanical morphing aircraft are examined with focus on their morphing modes,mechanisms,advantages,and disadvantages.Second,the novel applications of several technologies for morphing unmanned aerial vehicles,including additive manufacturing for fabricating complex morphing structures,lattice technology for reducing structural weight,and multi-mode morphing combined with flexible skins and foldable structures,are summarized and categorized.Moreover,in consideration of the further development of active morphing aircraft,the paper reviews morphing structures driven by smart material actuators,such as shape memory alloy and macro-fiber composites,and analyzes their advantages and limitations.Third,the paper discusses multiple challenges,including flexible structures,flexible skins,and control systems,in the design of future morphing aircraft.Lastly,the development and application of morphing structures in the aerospace field are discussed to provide a reference for future research and engineering applications.

关键词： morphing aircraft additive manufacturing lattice structure smart material flexible structure flexible skin

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Novel robust control framework for morphing aircraft

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Journal of Systems Engineering and Electronics 2013年第2期24卷 281-287页

作者： Chunsheng Liu Shaojie Zhang College of Automation Engineering Nanjing University of Aeronautics and Astronautics

This paper develops a robust control methodology for a class of morphing aircraft,which is called innovative control effector（ICE） aircraft.For the ICE morphing aircraft,the distributed arrays of hundreds of shape-change devices are employed to stabilize and maneuver the air vehicle.Because the morphing aircraft have the inherent uncertainty and varying dynamics due to the alteration of their configuration,a desired control performance can not be satisfied with a fixed feedback controller.Therefore,a novel control framework including an adaptive flight control law and an adaptive allocation algorithm is proposed.Firstly,a state feedback adaptive control law is designed to guarantee closed-loop stability and state tracking in the presence of uncertain dynamics caused by the wing shape change due to different flight missions.In the control allocation,many distributed arrays are managed in an optimal way to improve the robustness of the system.The scheme is used to an uncertain morphing aircraft model,and the simulation results demonstrate their performance.

关键词： morphing aircraft flight control law adaptive control allocation model uncertainty

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A systematic method of smooth switching LPV controllers design for a morphing aircraft

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Chinese Journal of Aeronautics 2015年第6期28卷 1640-1649页

作者： Jiang Weilai Dong Chaoyang Wang Qing School of Aeronautic Science and Engineering Beihang University School of Automation Science and Electrical Engineering Beihang University

This paper is concerned with a systematic method of smooth switching linear parameter- varying （LPV） controllers design for a morphing aircraft with a variable wing sweep angle. The morphing aircraft is modeled as an LPV system, whose scheduling parameter is the variation rate of the wing sweep angle. By dividing the scheduling parameter set into subsets with overlaps, output feedback controllers which consider smooth switching are designed and the controllers in over- lapped subsets are interpolated from two adjacent subsets. A switching law without constraint on the average dwell time is obtained which makes the conclusion less conservative. Furthermore, a systematic algorithm is developed to improve the efficiency of the controllers design process. The parameter set is divided into the fewest subsets on the premise that the closed-loop system has a desired performance. Simulation results demonstrate the effectiveness of this approach.

关键词： morphing aircraft Parameter set division：Robust control Smooth switching Switched linear parameter-varying system

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Deployment of SMP Miura-ori sheet and its application:Aerodynamic drag and RCS reduction

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Chinese Journal of Aeronautics 2022年第8期35卷 121-131页

作者： Ji ZHANG Changguo WANG Lamei ZHANG National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbin 150080China Center for Composite Materials and Structures Harbin Institute of TechnologyHarbin 150001China Department of Information Engineering Harbin Institute of TechnologyHarbin 150001China

Origami,such as Miura-ori,is the art of folding two-dimensional materials into complex,elaborate,and multifunctional three-dimensional objects.In this paper,SMP MO sheet are prepared,and the accuracy of deployable process is verified by experiments.The folding and deployable process of SMP MO sheet is divided into 4 stages,and each stage is described in detail.The stiffness of smart deployable stage is characterized by an exponential decline at the beginning and a gradual decrease to 0,and this is similar to the theoretical shear equivalent modulus in the Y direction.The effects of various parameters on strain and stress are also explored.The purpose of studying these mechanical characteristics is to provide driving force reference in application;In terms of application,the flow field and electromagnetic characteristics of MO sheet in different directions are studied.The aerodynamic drag and RCS reduction of MO unit cell and graded MO sheet during the deployable process are evaluated.When the dihedral fold angle is about 45°,the RCS reduction and drag reduction characteristics of MO sheet are relatively optimal,which is most beneficial to morphing aircraft.

关键词： Aerodynamic characteristics Deployment Miura-Ori morphing aircraft RCS reduction SMP sheet

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Recent Progress on Aeroelasticity of High-Performance morphing UAVs

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Computer Modeling in Engineering & Sciences 2022年第10期133卷 1-29页

作者： Binbin Lv Jun Zha Kaichun Zeng Hongtao Guo Li Yu Peng Zhang Institute of High Speed Aerodynamics China Aerodynamics Research and Development CenterMianyang621000China

The high-performance morphing aircraft has become a research focus all over the world.The morphing aircraft,unlike regular unmanned aerial vehicles(UAVs),has more complicated aerodynamic characteristics,making itmore difficultto conduct its design,model analysis,and experimentation.This paper reviews the recent process and the current status of aeroelastic issues,numerical simulations,and wind tunnel test of morphing aircrafts.The evaluation of aerodynamic characteristics,mechanism,and relevant unsteady dynamic aerodynamicmodeling throughout the morphing process are the primary technological bottlenecks formorphing aircrafts.The unstable aerodynamic forces have a significant impact on the aircraft handling characteristics,control law design,and flight safety.In the past,the structural analysis of morphing aircrafts,flight dynamics modeling,computational mesh morphing technology,and aerodynamic calculation were performed in promoting the development of next generation UAVs,with nonlinear dynamic challenges includingtransonic aeroelastic problems and high angle of attack aeroelastic problems.At present,many facets of these difficulties,together with the accompanying numerical simulation studies,remain under-explored.In addition,wind tunnel experiments face significant challenges in the dynamic morphing process.Finally,dynamic unsteady aerodynamic characteristics in the continuous morphing process still need to be verified by more related experiments.

关键词： morphing aircraft aeroelasticity numerical simulation wind tunnel test

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