NONLINEAR PREDICTIVE CONTROL OF FEEDBACK LINEARIZABLE SYSTEMS AND FLIGHT CONTROL-SYSTEM DESIGN

The question of output trajectory control of input-output feedback linearizable nonlinear dynamic systems using state variable feedback is considered, For the derivation of the predictive control law, a vector function s is chosen as a linear combination of the tracking error, its higher order derivatives, and the integral of the tracking error, The control law is obtained by the minimization of a quadratic function of the predicted value of s and the control input. It is shown that in the closed loop system the trajectories are uniformly ultimately bounded in the presence of uncertainty in the system parameters. Based on these results, a light control system for the trajectory control of the output variables pitch, sideslip, and roll angles (theta, beta, phi) using aileron, rudder, and elevator control is presented. Simulation results are obtained to show that precise simultaneous longitudinal and lateral maneuvers can be performed in spite of the uncertainty in the aerodynamic parameters.