Robust MRAC for a Wing Rock Phenomenon in Delta Wing Aircrafts

Document Type : Research Article


Control and Systems Department, University of Technology, Baghdad, Iraq


Wing rock phenomenon is an undesired motion appears in high angles of attack where a rolling in the aircraft in positive and negative roll angles with specified amplitude and frequency is occurred. In this paper two adaptive controllers suggested to control the rolling dynamics under wing rock phenomenon for a delta wing aircraft with presence of disturbance. Disturbance was considered as unmatched disturbance. Classical MRAC and σ-modified MRAC are the targeted controllers. Matlab/Simulink is used to simulate the wing rock phenomenon and to test the designed controllers. The simulated results show that the modified controller gives more robust characteristics than its counterpart; as it could confine different aircraft responses within bounded limits. Moreover, the modified controller shows lower control effort than classical one.


[1]M. V. Cook, Flight Dynamics Principles (2nd Ed.). Elsevier, 2007.
[2]B. L. Stevens and F. L. Lewis, Aircraft Control and Simulation. 2003.
[3]C. Hsu and C. E. Lan, “Theory of Wing Rock,” J. Aircr., vol. 22, no. 10, pp. 920–924, 1985.
[4]M. Krstic and Mogen M .Monahemi, “Control of Wing Rock Motion Using Adaptive Feedbackk Linearization,” Guid. Control. Dyn., vol. 19, no. 4, pp. 905–912, 1996.
[5]S. B. Kooi, “Dynamic Recurrent Neural Networks for Stable Adaptive Control of Wing Rock Motion,” Concordia Montreal Canada, 1999.
[6]S. Shue and R. K. Agarwal, “Nonlinear H-infinity Method for Control of Wing Rock Motions,” J. Guid. Control. Dyn., vol. 23, no. 1, pp. 60–68, 2000.
[7]A. A.Saad, “Simulation and Analysis of Wing Rock Physics for A Generic Fighter Model with Tree Degree of Freedom,” Air Force Institute of Technology , Ohio, 2000.
[8]K. M. Passino and R. Ordonez, “Wing rock regulation with a time-varying angle of attack,” in Proceedings of the 2000 IEEE International Symposium on Intelligent Control. Held jointly with the 8th IEEE Mediterranean Conference on Control and Automation (Cat. No.00CH37147), 2000, no. 1, pp. 145–150.
[9]J. Pietrucha, M. Zlocka, K. Sibilski, A. Zyluk, and A. Sibilska-Mroziewicz, “Comparative Analysis of Wing Rock Control,” in 47th AIAA Aerospace Sciences Meeting Including The New Horizon Forum and Aerospace Exposition, 2009, no. January, pp. 1–9.
[10]A. Kuperman, Q.-C. Zhong, and R. K. Stobart, “Robust control of wing rock motion,” in Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, 2011, pp. 5659–5664.
[11]E. Costin, “Nonlinear Control Law Design for Lateral Aircraft Dynamics at High Angles of Attack,” Appl. Mech. Mater., vol. 325–326, pp. 1210–1214, 2013.
[12]V. Azimi, M. B. Menhaj, and A. Fakharian, “Robust Fuzzy Gain-Scheduled Control of the 3-Phase IPMSM,” Amirkabir Int. J. Sci. Res. (Modeling, Identification, Simul. Control., vol. 45, no. 1, pp. 1–14, 2013.
[13]R. Ghasemi and M. B. Menhaj, “A Variable Structure Observer Based Control Design for a Class of Large Scale MIMO Nonlinear Systems,” Amirkabir Int. J. Sci. Res. (Modeling, Identification, Simul. Control., vol. 48, no. 1, pp. 45–54, 2016.
[14]C. D. Heise and F. Holzapfel, “Uniform Ultimate Boundedness of a Model Reference Adaptive Controller in the Presence of Unmatched Parametric Uncertainties,” in Proceedings of the IEEE 2015 6th International Conference on Automation, Robotics and Applications, 2015, pp. 149–154.
[15]J. M. Elzebda, A. H. Nayfeh, and D. T. Mook, “Development of an Analytical Model of Wing Rock for Slender Delta Wings,” J. Aircr., vol. 26, no. 8, pp. 737–743, 1989.
[16]G. Guglieri, “A comprehensive analysis of wing rock dynamics for slender delta wing configurations,” Nonlinear Dyn., vol. 69, no. 4, pp. 1559–1575, 2012.
[17]G. Guglieri and F. B. Quagliotti, “Analytical and Experimental Analysis of Wing Rock,” Nonlinear Dyn., vol. 24, no. 2, pp. 129–146, 2001.
[18]P. Ioannou and B. Fidan, Adaptive Control Tutorial. SIAM, 2006.
[19]D. Wu, M. Chen, H. Gong, and H. Ye, “Control of Wing Rock Based on High Order Sliding Mode Disturbance Observer,” in Proceeding of the 11th World Congress on Intelligent Control and Automation, 2014, pp. 873–878.
[20]M. H. Sadraey, Aircraft design: A systems engineering approach. John Wiley & Sons, 2012.