Robust control of oblique flying wing aircraft

1 . A robust control method for decoupled stabilization of an oblique flying wing aircraft, comprising:

computing an angular velocity error between a reference angular velocity and an actual angular velocity;

computing a moment command with an angular velocity controller based at least in part on the angular velocity error, wherein

a plant matrix of the angular velocity controller is dense such that each component of the plant matrix is non-zero, and

a closed-loop transfer function matrix of the angular velocity controller comprises non-zero value diagonal components and zero value off-diagonal components; and

adjusting one or more control effectors of the oblique flying wing aircraft based at least in part on the moment command.

2 . The control method of claim 1 , wherein a damping ratio and a natural frequency for each rotational axis of a plurality of rotational axes are prescribed for the angular velocity controller.

3 . The control method of claim 1 , wherein the angular velocity error comprises a plurality of velocity error components about a plurality of rotational axes.

4 . The control method of claim 3 , wherein the moment command comprises a plurality of moment command components, each of the plurality of moment command components corresponding to a respective moment about each rotational axis of the-plurality of rotational axes for a respective one of the plurality of velocity error components.

5 . The control method of claim 1 , further comprising determining a control surface command with an allocator based at least in part on the moment command, and wherein adjusting the one or more control effectors of the oblique flying wing aircraft comprises adjusting the one or more control effectors of the oblique flying wing aircraft based at least in part on the control surface command.

6 . The control method of claim 5 , wherein computing the control surface command with the allocator comprises computing an arrangement for the control effectors of the oblique flying wing aircraft for the moment command.

7 . The control method of claim 1 , further comprising applying an exponential decay to a time step integrator of the angular velocity controller.

8 . The control method of claim 1 , further comprising implanting anti-windup by adjusting components of an identity matrix from one to zero.

9 . A robust control system for decoupled stabilization of an oblique flying wing aircraft, comprising:

one or more processors; and

one or more non-transitory computer-readable media that store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising

computing an angular velocity error between a reference angular velocity and an actual angular velocity,

computing a moment command with an angular velocity controller based at least in part on the angular velocity error, wherein a plant matrix of the angular velocity controller is dense such that each component of the plant matrix is non-zero, and a closed-loop transfer function matrix of the angular velocity controller comprises non-zero value diagonal components and zero value off-diagonal components, and

computing a control surface command for an allocator based at least in part on the moment command.

10 . The control system of claim 9 , wherein a damping ratio and a natural frequency for each rotational axis of a plurality of rotational axes are prescribed for the angular velocity controller.

11 . The control system of claim 9 , wherein the angular velocity error comprises a plurality of velocity error components about a plurality of rotational axes.

12 . The control system of claim 11 , wherein the moment command comprises a plurality of moment command components, each of the plurality of moment command components corresponding to a respective moment about each rotational axis of the plurality of rotational axes for a respective one of the plurality of velocity error components.

13 . The control system of claim 9 , wherein the control surface command corresponds to adjustments for one or more control effectors of the oblique flying wing aircraft.

14 . The control system of claim 13 , wherein computing the control surface command with the allocator comprises computing an arrangement for control effectors of the oblique flying wing aircraft for the moment command.

15 . The control system of claim 9 , wherein the instructions further comprise applying an exponential decay to a time step integrator of the angular velocity controller.

16 . The control system of claim 9 , wherein the instructions further comprise implanting anti-windup by adjusting components of an identity matrix from one to zero.

17 . A robust control method for decoupled stabilization of an asymmetric aircraft, comprising:

computing an angular velocity error between a reference angular velocity and an actual angular velocity;

computing a moment command with an angular velocity controller based at least in part on the angular velocity error, wherein the angular velocity controller decouples two or more of a yaw rate axis, a pitch rate axis, and a roll rate axis of the asymmetric aircraft for the moment command; and

adjusting one or more control effectors of the asymmetric aircraft based at least in part on the moment command such that a yaw rate adjustment command only adjusts yaw of the asymmetric aircraft, a pitch rate adjustment command only adjusts pitch of the asymmetric aircraft, and a roll rate adjustment command only adjusts roll of the asymmetric aircraft.

18 . The control method of claim 17 , wherein the angular velocity controller comprises a function

G

c

(

s

)

=

[

-

IA

⁢

ω

→

n

2

I

T

⁢

ω

→

n

2

]

[

s

6

×

6

-

[

3

×

3

3

×

3

3

×

3

-

2

⁢

ζ

→

⁢

ω

→

n

]

]

-

1

[

3

×

3

3

×

3

]

wherein

I is a moment of inertia matrix,

A is a state matrix defined as

A

=

I

-

1

⁢

∂

M

∂

ω

,

∂

M

∂

ω

is a Jacobian of a moment with respect to angular velocity for a plurality of rotational axes of the oblique flying wing aircraft, {right arrow over (ξ)} is a prescribed damping ratio, and

{right arrow over (ω)} n is a prescribed natural frequency.

19 . The control method of claim 18 , further comprising implanting anti-windup by adjusting components of the 3×3 in the

[

s

6

×

6

-

[

3

×

3

3

×

3

3

×

3

-

2

⁢

ζ

→

⁢

ω

→

n

]

]

-

1

portion of the function from one to zero.