Wake Estimation and Optimal Control for Autonomous Aircraft in Formation Flight

Abstract

The continued development of sophisticated aircraft with high fidelity control systems will enable autonomous execution of challenging tasks such as aerial refueling and close formation flight. In order to achieve such tasks in autonomous flight, an aircraft must sense other aircraft in close proximity and position itself relative to them. For example, aerial refueling requires the follower aircraft to intercept the filling nozzle attached to the leader aircraft; also, formation-flying aircraft must position themselves strategically to realize benefits of aerodynamic efficiency. This paper uses lifting-line theory to represent a two-aircraft formation and presents a grid-based, recursive Bayesian filter for estimating the wake parameters of the leader aircraft using noisy pressure measurements distributed along the trailing aircraft’s wing; the estimator also requires a binary, relative-altitude measurement to break the vertical symmetry. Optimal control strategies are presented to steer the follower aircraft to a desired position relative to the leader while simultaneously optimizing the observability of the leader’s relative position. The control algorithms guide the follower aircraft along trajectories that maintain adequate observability, thereby guaranteeing estimator performance. Theoretical results are illustrated using numerical examples of two-aircraft formations.