Design of a controller for morphing aircraft based on backstepping/RHO

In order to ensure the flight stability of morphing aircraft in the morphing process, a parallel retrofit controller was proposed. The nominal controller was designed by the backstepping technique, which was used to provide the basic flight stability as well as the tracking performance. The nonlinear dynamic equations of the morphing aircraft were linearized by the Jacobian linearization approach, and a linearized model was obtained. The retrofit controller was designed by the receding horizon optimal (RHO) algorithm based on the command filter. The retrofit value was calculated within a finite horizon in real-time to compensate for the nominal controller. The simulation results of the flight path angle control system show that the flight path angle can track the command signal regardless of morphing process, and the flight control system satisfies the requirements of real-time and robustness.