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The adaptive trajectory and attitude control is essential for the four-dimensional (4D) trajectory operation of civil aircraft in symmetric thrust flight. In this work, an integrated trajectory and attitude control scheme is proposed based on the =multi-input multi-output (MIMO) model free adaptive control (MFAC) method. First, the full-form dynamic linearization technique is adopted to build the equivalent data model of aircraft. Also, the MIMO MFAC scheme with saturation constraint is designed to achieve an accurate tracking control for a given 4D trajectory and attitude. Besides, the performance limitations of aircraft are taken into consideration, and the MIMO MFAC scheme with hard constraints is designed. In addition, to improve the simulation efficiency, a control scheme with mixed constraints, i.e., saturation and hard constraints, is further proposed. It can be seen from the simulation results that the proposed method can perform an integrated control of the aircraft 4D trajectory and attitude without precise modeling, and the control performance is better than that of the model-based control method in terms of flight altitude and yaw angle control. The integrated data-driven control scheme proposed in this paper provides a theoretical solution for the precise operation of aircraft under 4D trajectory.

A Model Free Adaptive Scheme for Integrated Control of Civil Aircraft Trajectory and Attitude