The practical autonomous air refueling of unmanned air system tanker aircraft to unmanned air system receiver aircraft will require an integrated relative navigation system and controller that is tolerant to faults. This paper develops and demonstrates a fault-tolerant structured-adaptive-model-inversion controller integrated with a reliable relative-position sensor for this autonomous air-refueling scenario using the probe-and-drogue method. The structured-adaptive-model-inversion controller does not depend on fault-detection information, yet reconfigures and provides smooth trajectory tracking and probe docking in the presence of control-effector failure. The controller also handles parameter uncertainty in the receiver-aircraft model. In this paper, the controller is integrated with a vision-based relative-position sensor, which tracks the relative position of the drogue, and a reference-trajectory generator. The feasibility and performance of the controller and integrated system are demonstrated with simulated docking maneuvers with a nonstationary drogue, in the presence of system uncertainties and control-effector failures. The results presented in the paper demonstrate that the integrated controller/sensor system can provide successful docking in the presence of system uncertainties for a specified class of control-effector failures. Presented as Paper 2009-1887 at the AIAA Infotech@Aerospace Conference, Seattle, WA, 6-9 April 2009


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fault-Tolerant Adaptive Model Inversion Control for Vision-Based Autonomous Air Refueling




    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.54 Flugführung
    Local classification TIB:    770/7040




    Fault-Tolerant Adaptive Model Inversion Control for Vision-Based Autonomous Air Refueling

    Valasek, John / Famularo, Douglas / Marwaha, Monika | AIAA | 2017



    Fault Tolerant SAMI for Vision-Based Probe and Drogue Autonomous Aerial Refueling

    Marwaha, Monika / Valasek, John / Narang, Anshu | AIAA | 2009


    Vision-Based Autonomous Aerial Refueling

    Erkin, Tevfik / Abdo, Omer / Sanli, Yilmaz et al. | TIBKAT | 2022