Immersion and invariance-based adaptive wing rock control with nonlinear terminal manifold

This paper develops a new adaptive control system based on the immersion and invariance (I&I) theory for the wing rock motion control using state variable feedback. An I&I-based adaptive control system is designed for the regulation of the roll angle trajectory to a nonlinear terminal manifold. The trajectory evolving on this manifold converges to the origin in a finite time. The control system includes a control module and a parameter estimator which can be tuned independently for shaping the responses. A special feature of this adaptive law is that once the estimated parameters coincide with the actual values, then subsequently these parameter estimates remain frozen, and adaptation stops. Furthermore the trajectories of the closed-loop system eventually evolve on a manifold in an extended state space. Simulation results are presented which show that the adaptive controller suppresses the wing rock motion of delta wing at different angles of attack, despite uncertainties.