Methods and apparatus to perform observer-based control of a vehicle
AssigneeThe Boeing Company
InventorsEugene Lavretsky, Kevin Andrew Wise
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Abstract
Methods, apparatus, and articles of manufacture to perform observer based control of a vehicle are disclosed. An example apparatus includes an error module to calculate a difference between a first state of a vehicle and a second state of the vehicle, the second state based on a measurement from a sensor, an observer module to determine a third state of the vehicle based on the difference, a baseline control module to generate a first command based on the third state, and a vehicle module to execute the first command to control the vehicle.
Claims21
An apparatus comprising:
- an observer module to determine a first state of a vehicle based on a difference between a second state of the vehicle and a third state of the vehicle, the second state based on a bounded command, the third state based on a measurement from a sensor, the observer module is to determine the first state by:
- determining a sum based on applying an observer error feedback gain and a gain command value to the second state, the observer error feedback gain based on an output observation error and a measured plant output, the output observation error based on an identity matrix, the measured plant output based on the sensor;
- and
- executing a transfer function using the sum to generate the first state;
- a baseline control module to generate a first command based on the first state;
- and
- a vehicle module to execute the first command to control the vehicle by moving a control surface from a first position to a second position.
A non-transitory computer readable medium comprising instructions which, when executed, cause a machine to at least:
- determine a first state of a vehicle based on a difference between a second state of the vehicle and a third state of the vehicle, the second state based on a bounded command, the third state based on a measurement from a sensor, the machine is to determine the first state by:
- determining a sum based on applying an observer error feedback gain and a gain command value to the second state, the observer error feedback gain based on an output observation error and a measured plant output, the output observation error based on an identity matrix, the measured plant output based on the sensor;
- and
- executing a transfer function using the sum to generate the first state;
- generate a first command based on the first state;
- and
- execute the first command to control the vehicle by moving a control surface from a first position to a second position.
A method comprising:
- determining a first state of a vehicle based on a difference between a second state of the vehicle and a third state of the vehicle, the second state based on a bounded command, the third state based on a measurement from a sensor, the determining of the first state including:
- determining a sum based on applying an observer error feedback gain and a gain command value to the second state, the observer error feedback gain based on an output observation error and a measured plant output, the output observation error based on an identity matrix, the measured plant output based on the sensor;
- and
- executing a transfer function using the sum to generate the first state;
- generating a first command based on the first state;
- and
- executing the first command to control the vehicle by moving a control surface from a first position to a second position.
Dependencies are inferred from the claim text.