Trajectory tracking control is investigated for an open-loop unstable aircraft with delayed external measurement in this paper. The bounded measurement delay is unknown and variant. The trajectory signal is generated by a reference system. By using a Lyapunov–Krasovskii functional and linear matrix inequality technique, a delay-dependent criterion and the corresponding robust trajectory tracking control scheme are presented. The controller can reduce the undesirable delay effects and guarantee the boundedness of tracking error. The results with application to HiMAT (highly maneuverable technology) aircraft have demonstrated the effectiveness of the proposed approach.
LeeHKLeeJG. Calibration of measurement delay in global positioning system/strapdown inertial navigation system. J Guid Contr Dyn2002; 25(2): 240–247.
3.
SkogIHandelP. Time synchronization errors in loosely coupled GPS-aided inertial navigation systems. IEEE Trans Intell Transport Syst2002; 12(4): 1014–1023.
4.
DingWDWangJLLiY. Time synchronization error and calibration in integrated GPS/INS systems. ETRL J2008; 30(1): 59–67.
5.
SukkariehSNebotEMDurrant-WhyteHF. A high integrity IMU/GPS navigation loop for autonomous land vehicle applications. IEEE Trans Robot Autom1999; 15(3): 572–578.
6.
KarimiHR. Delay-range-dependent linear matrix inequality approach to quantized H∞ control of linear systems with network-induced delays and norm-bounded uncertainties. Proc IMechE, Part I: J Systems and Control Engineering, 2010; 224(6): 689–700.
7.
QiuJHeHShiP. Delay-dependent guaranteed cost control for a non-linear stochastic system with distributed delays. Proc IMechE, Part I: J Systems and Control Engineering2009; 223(6): 763–772.
8.
LiuYHuLShiP. Stabilization of switched systems with time-varying delay: a state transformation method. Proc IMechE, Part I: J Systems and Control Engineering2011; 225(8): 1185–1194.
9.
WangYZuoYHuangL. A new delay-dependent H∞ control criterion for a class of discrete-time systems with time-varying state delays and input delays. Proc IMechE, Part I: J Systems and Control Engineering2008; 222(8): 863–874.
10.
NiMLErMJ. Stability of linear systems with delayed perturbations: an LMI approach. IEEE Trans Circ Syst Fund Theor Applic2002; 49(1): 108–112.
11.
NiMLWangJLiG. Decentralized tracking control for linear uncertain interconnected systems with time delays. Asian J Contr2008; 10(3): 368–375.
12.
YeXD. Decentralized adaptive stabilization of large-scale nonlinear time-delay systems with unknown high-frequency-gain signs. IEEE Trans Automat Contr2011; 56(6): 1473–1478.
13.
VuLMorgansenKA. Stability of time-delay feedback switched linear systems. IEEE Trans Automat Contr2010; 55(10): 2385–2390.
14.
LiLJiaY. Observer-based resilient L2–L∞ control for singular time-delay systems. IET Contr Theor Applic2009; 3(10): 1351–1362.
15.
NiMLLiG. A direct approach to the design of robust tracking controllers for uncertain delay systems. Asian J Control2006; 8(4): 412–416.
16.
ChoGRChangPHParkSH. Robust tracking under nonlinear friction using time-delay control with internal model. IEEE Trans Contr Syst Technol2009; 17(6): 1406–1414.
17.
MiddletonRHMillerDE. On the achievable delay margin using LTI control for unstable plants. IEEE Trans Automat Contr2007; 52(7): 1194–1207.
18.
MichielsWEngelborghsKVansevenantP. Continuous pole placement for delay equations. Automatica2002; 38(5): 747–761.
19.
ZhuBWangXCaiKY. Tracking control for angular-rate-sensorless vertical take-off and landing aircraft in the presence of angular-position measurement delay. IET Contr Theor Applic2010; 4(6): 957–969.
20.
BevlyDRyuJGerdesJ. Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness. IEEE Trans Intell Transport Syst2006; 7(4): 483–493.
21.
CaignyJDCaminoJFOliveiraRCLF. Gain-scheduled H2 and H∞ control of discrete-time polytopic time-varying systems. IET Contr Theor Applic2010; 4(3): 362–380.
JiangXHanQL. New stability criteria for linear system with interval time-varying delay, Automatica2008; 44(10): 2680–2685.
24.
El GhaouiLOustryFAitRamiM. A cone complementarity linearization algorithm for static output-feedback and related problems. IEEE Trans Automat Contr1997; 42(8): 1171–1176.
25.
HartmannGLBarrettMFGreeneCS. Control design for an unstable vehicle. NASA CR-170393, 1979.
26.
HouYZDongCYWangQ. Stability analysis of switched linear systems with locally overlapped switching law. J Guid Contr Dyn2010; 33(2): 396–403.
27.
DeetsDABrownLE. Wright Brothers lectureship in aeronautics: Experience with HiMAT remotely piloted research vehicle – an alternate flight test approach. In: AIAA aircraft systems, design & technology meeting, Dayton, Ohio, 20–22 October1986, paper no. AIAA-86-2754, pp.1–18. New York: AIAA.
