International Journal of Computer Applications (0975 – 888)

Volume 47– No.13, June 2012

Design of Fuzzy Logic Controller for Lateral Dynamics

Control of Aircraft by Considering the Cross-Coupling
Effect of Yaw and Roll on Each Other

Vishnu G Nair Dileep M V Prahalad K R

Department of Aeronautical & Department of Instrumentation & Department of Instrumentation &
Automobile Engineering, Control Engineering, Control Engineering,
Manipal Institute of Technology Manipal Institute of Technology Manipal Institute of Technology
Manipal, India-576104 Manipal, India-576104 Manipal, India-576104

ABSTRACT navigation, flight management and augmenting the stability

characteristic of the [Link] number and type of
In this paper, we explore fuzzy logic approach for lateral aerodynamic surfaces to be controlled changes with aircraft
control of aircrafts. Here the effect of roll on yaw and that of category. The control surfaces of an aircraft include the
yaw on roll is taken into account. The dynamic modeling of rudder, the elevator and the ailerons. The rudder is located at
lateral control system that controls the lateral dynamics of an the rear of the vertical stabilizer. The rudder allows the plane
[Link] presented. The aircraft being considered in this to rotate on its vertical axis. The elevator is located at the rear
work is a standard NAVION Transport aircraft [1]. A suitable of the horizontal stabilizer. The elevator allows the aircraft to
mathematical model to describe the dynamics of an aircraft is rotate on its lateral axis. The ailerons are located at the rear of
derived. A single fuzzy controller is designed which will the main wing. The ailerons allow the plane to rotate on its
control both yaw and roll of the aircraft simultaneously. In this longitudinal [Link] a plane is in flight we think of it being
paper the transfer functions for yaw and roll is derived and controlled on the three axes mentioned above. The
their effects on each other is taken into account so that the longitudinal axis is the imaginary line running from the
system will have greater accuracy and efficiency than the extreme nose to the extreme tail of the plane. The ailerons
application of two separate controllers. This design is very control the movement of the plane about this axis. Movement
cost effective and will significantly reduce instability and about this axis is called roll. The lateral axis runs from
increases maneuverability. Simulation results for the response wingtip to wingtip at the center of gravity point. Movement
of lateral controller are presented in time domain. Finally, the on this axis is controlled by the elevator which causes the
performance of lateral control system is analyzed based on nose to move up or down. This movement is called pitch. The
common criteria of step’s response. vertical axis runs through the top of the plane and out the
bottom, intersecting the two axes. Rotation about this axis is
controlled by the rudder which causes the nose to move left
General Terms and right. This movement is called [Link] this paper the
Yaw,Roll, Cross-coupling,FuzzyLogic,Simulink designing of a lateral controller for controlling the yaw and
roll simultaneously is explained. Fuzzy Logic Controller is
Keywords used for controlling the yaw and roll of a standard aircraft ,by
considering the cross coupling effect of both on each other is
Fuzzy logic controller, lateral dynamics, NAVION Transport
aircraft, Matlab/Simulink presented in this paper.

1 INTRODUCTION 2 MATHEMATICAL MODELLING OF

THE SYSTEM
The development of automatic control system has played an
important role in the growth of civil and military aviation. The The derivation of lateral dynamic equations of motion, which
architecture of the flight control system, essential for all flight represents the dynamics of aircraft with respect to lateral axis
operations, has significantly changed throughout the years. and longitudinal dynamic equations of motion which
Articulated surfaces were used at the beginning of represents the aircraft’s dynamics with respect to longitudinal
aeronautical history for basic control. It was operated by the axis is described in this [Link] dynamics includes
pilot through a system of cables and pulleys. This technique yaw, roll and sideslip motions of aircraft. In this paper, control
survived for decades and is now still used for small airplanes. of lateral dynamics of aircraft is explained. The control
The introduction of larger airplanes and the increase of flight surfaces of aircraft is shown in Fig. 1.
envelopes made the muscular effort of the pilot, in many
conditions, not sufficient to control the aerodynamic moments
consequent to the surface deflection. This problem is solved
by introducing aerodynamic balances and tabs, but further
grow of the aircraft sizes and flight enveolpes brought to the
need of powered systems to control the articulated
aerodynamic surfaces. Modern aircraft include a variety of
automatic control system that aids the flight crew in

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 International Journal of Computer Applications (0975 – 888)
Volume 47– No.13, June 2012

𝑝 = 𝑝𝑜 + 𝛥𝑝; 𝑞 = 𝑞𝑜 + 𝛥𝑞; 𝑌 = 𝑌𝑜 + 𝛥𝑌
𝑟 = 𝑟𝑜 + 𝛥𝑟; 𝐿 = 𝐿𝑜 + 𝛥𝐿; 𝑀 = 𝑀𝑜 + 𝛥𝑀
𝛿 = 𝛿0 + 𝛥𝛿 (5)
The equations (6),(7) and (8) represents the linearized form,
see [1].
𝑑
− 𝑌𝑉 𝛥𝑣 − 𝑌𝑃 𝛥𝑝 + 𝑢0 − 𝑌𝑟 𝛥𝑟 − 𝑔𝑐𝑜𝑠𝜃0 𝛥𝜙
𝑑𝑡
= 𝑌𝛿𝑟 𝛥𝛿𝑟 (6)
𝑑 𝐼𝑋𝑍 𝑑
−𝐿𝑉 𝛥𝑣 + − 𝐿𝑃 𝛥𝑝 − + 𝐿𝑟 𝛥𝑟
𝑑𝑡 𝐼𝑋 𝑑𝑡
= 𝐿𝛿𝑎 𝛥𝛿𝑎 + 𝐿𝛿𝑟 𝛥𝛿𝑟 (7)

𝑑 𝐼𝑋𝑍 𝑑
−𝑁𝑉 𝛥𝑣 + − 𝑁𝑟 𝛥𝑟 − + 𝑁𝑃 𝛥𝑝
𝑑𝑡 𝐼𝑍 𝑑𝑡
= 𝑁𝛿𝑎 𝛥𝛿𝑎 + 𝑁𝛿𝑟 𝛥𝛿𝑟 (8)
Figure [Link] ,Roll& Pitch motion of Aircraft
The lateral directional equations of motion consist of the side
The forces, moments and velocity components in the body
force, rolling moment and yawing moment equations of
fixed frame of an aircraft system are shown in Fig. 2 where
motion. In this paper we are taking sideslip angle Δβ instead
the aerodynamic moment components are represented by L, M
of the side velocity Δv. These two quantities are related to
and N;the angular rate components of roll, pitch and yaw axis
each other in the following way;[3]
are represented byp, q and r and the termsu, v and w 𝛥𝑣 𝛥𝑣
represents the velocity components of roll, pitch and yawaxis. 𝛥𝛽 ≈ tan−1 = (9)
𝑢0 𝑢0
Lateral equations of motion in state space form is shown in
equation (10)

𝑌𝛽 𝑌𝑃 𝑌 𝑔𝑐𝑜𝑠 𝜃0
𝛥𝛽′ −(1 − 𝑢𝑟 ) 𝛥𝛽
𝑢0 𝑢0 0 𝑢0
𝛥𝑝′ 𝐿𝛽 𝐿𝑃 𝐿𝑟 0 𝛥𝑝
= +
𝛥𝑟′ 𝑁𝛽 𝑁𝑃 𝑁𝑟 0 𝛥𝑟
𝛥𝜙′ 𝛥𝜙
0 1 0 0
𝑌𝛿𝑎
0
𝑈0
𝐿𝛿𝑎 𝐿𝛿𝑟 𝛥𝛿𝑎 (10)
𝑁𝛿𝑎 𝑁𝛿𝑎 𝛥𝛿𝑟
0 0
In this study, the data from NAVION Transport [1] is used in
system analysis and modeling. Table I. gives the lateral
directional derivatives stability parameters for this airplane
The values are taken directly from reference [3], as these are
Figure 2. Definition of forces, moments and velocity standard data of the NAVION aircraft.
components in a body fixed frame [1].
Table 1. The lateral directional derivatives stability
For deriving the lateral equations we assumed that the aircraft parameters [3]
is in steady cruise with constant altitude and velocity. Also it General Y-Force Yawing Rolling
is assumed that change in pitch angle does not change the Aviation Derivatives Moment Moment
speed of aircraft and the reference flight conditions are Airplane: Derivatives Derivatives
symmetric with propulsive forces constant. Therefore, NAVION
𝑣 = 𝑝 = 𝑞 = 𝑟 =𝜑 =𝜓 =0 (1) Pitching 𝑌𝑉 = 0.254 𝑁𝑣 = 0.025 𝐿𝑣 = −0.091
𝑑𝑣 Velocities
𝑌 + 𝑚𝑔𝐶𝜃 𝑆𝜃 = 𝑚( 𝑑𝑡 + 𝑟𝑢 − 𝑝𝑤) (2)
Side Slip 𝑌𝛽 𝑁𝛽 = 4.549 𝐿𝛽 = −15.969
𝑑𝑝 𝑑𝑟 Angle
𝐿 = 𝐼𝑋 − 𝐼𝑋𝑧 + 𝑞𝑟 𝐼𝑧 − 𝐼𝑦 − 𝐼𝑋𝑧 𝑝𝑞 (3) = −44.665
𝑑𝑡 𝑑𝑡
Rolling 𝑌𝑃 = 0 𝑁𝑃 𝐿𝑃 = −8.395
𝑑𝑝 𝑑𝑟
𝑁 = −𝐼𝑋𝑍 + 𝐼𝑍 + 𝑝𝑞 𝐼𝑦 − 𝐼𝑥 − 𝐼𝑋𝑧 𝑞𝑟(4) Rate = −0.349
𝑑𝑡 𝑑𝑡
Yawing 𝑌𝑟 = 0 𝑁𝑟 = −0.76 𝐿𝑟 = 2.19
Using small-disturbance theory we can linearize the above Rate
equations by replacing all the variables in equations (2),(3) Rudder 𝑌𝛿𝑟 𝑁𝛿𝑟 𝐿𝛿𝑟 = 23.09
and(4) with a reference value plus a small disturbance. See Deflection = 12.433 = −4.613
equation (5)
Aileron 𝑌𝛿𝑎 = 0 𝑁𝛿𝑎 𝐿𝛿𝑎
𝑢 = 𝑢𝑜 + 𝛥𝑢 ;𝑣 = 𝑣𝑜 + 𝛥𝑣;𝑤 = 𝑤𝑜 + 𝛥𝑤 Deflection = −0.224 = −28.916

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 International Journal of Computer Applications (0975 – 888)
Volume 47– No.13, June 2012

The values in the above table is substituted in equation (10).

𝛥𝛽′ −0.254 0 −1 0.183 𝛥𝛽
𝛥𝑝′ −15.969 −8.395 2.19 0 𝛥𝑝
= +
𝛥𝑟′ 4.549 −0.349 −0.76 0 𝛥𝑟
𝛥𝜙′ 0 1 0 0 𝛥𝜙
0 0
23.09 23.09 𝛥𝛿𝑎
(11)
−4.613 −0.224 𝛥𝛿𝑟
0 0
Solving equation (11),the transfer functions for yaw and roll
are derived. Transfer function for rudder deflection angle to
yaw angle is given by equation (12)
𝛥𝜙 (𝑠) −4.6130 𝑆 3 −47.9562 𝑆 2 −11.8833 𝑆+5.7410
𝛥𝛿 𝑟
=
(𝑠) 𝑆 4 +9.4090 𝑆 3 +14.0189 𝑆 2 +48.4991 𝑆+0.3979

(12)
Transfer function from aileron deflection angle to roll angle is
given by equation (13)
𝛥𝜙 (𝑠) −32.32𝑆 2 −31.8𝑆−162 .08
𝛥𝛿 𝑎
=
(𝑠) 𝑆 4 +8.402 𝑆 3 +13.3𝑆 2 +51.5 𝑆+0.569
(13)

3 DESIGN PROCESS OF FUZZY LOGIC

CONTROLLER
Figure 3. The basic representation of fuzzy controller
Fuzzy Logic Controller (FLC) is proposed for the lateral design methodology
control system and in this section it is described in detail. The
concept of Fuzzy Logic Controller (FLC) was conceived by The crisp inputs error and change in error are converted to
LotfiZadeh, a professor at the University of California at fuzzy membership value on the fuzzy subsets negative big
[Link] was not presented as a control methodology, but as (NB), negative small (NS), zero (ZZ), positive small (PS),
a way of processing data by allowing partial set membership positive big (PB) We are using a four input two output fuzzy
rather than crisp set membership or [Link] is a controller. The inputs are roll error, rate of change of roll
problem-solving control system methodology that will act as a error, yaw error and rate of change of yaw error. The outputs
feedback controller which is programmed to accept noisy, are control signal response for yaw and roll angles
imprecise input so that it can be implemented in systems respectively. The membership functions of all the four inputs
ranging from simple, small, embedded micro-controllers to and two outputs are given below:-
large, networked, multi-channel PC or workstation-based data
acquisition and control [Link]'s approach to control
problems mimics how a person would make decisions, only 3.1 Yaw error input
much faster. When idea of fuzzy logic is applied to control, it
The input “Error” consists of the following seven membership
is generally called as ' fuzzy control. Fuzzy control is the first
functions :-Big Negative Error (BN): Negative Error
ever application known to which fuzzy logic is applied. The
(N),Small Negative Error (SN),No Error (Z),Small Positive
fuzzy controller is composed of four elements. These are
Error (SP),Small Positive Error (P) Big PositiveError,(BP).
fuzzification, rule base, inference mechanism and
defuzzification. A flow chart which shows the designing steps
of a fuzzy control system is given in fig 3,

Figure 4. Yaw error membership function

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 International Journal of Computer Applications (0975 – 888)
Volume 47– No.13, June 2012

3.2 Rate of change of yaw error input

The “Rate Of Error” input, which represents the rate of the
error input, consists of five membership functions. Big
Negative (BN)Small Negative (NE): Zero Acceleration (ZR):
Small Positive (PE): Big Positive (BP):

Figure 7 Rate of change of roll error membership

function

3.5 Yaw output membership function

The output1 of the system consists of seven membership
Figure 5 Rate of change of yaw error membership functions as:-Big Negative Angle (BNT),Normal Negative
function Angle (NNT),Negative Angle (NT),Zero Thrust (ZT):
Positive Angle (PT):,Normal Positive Angle (NPT),Big
3.3 Roll error input Positive Angle (BPT)

The input “Error” consists of the following five membership

functions Big Negative Error (NB),Small Negative Error
(NS.),No Error (ZZ.),Small Positive Error (PS).Big Positive
Error (PB)

Fig 8 Yaw output membership function

3.6 Roll output membership function

The output 2 of the system consists of five membership
functions as:-Big Negative Angle (NB): Small Negative
Figure 6Roll error membership function Angle (NS),Zero Thrust (ZZ): Small Positive Angle (PS): Big
Positive Angle (PB):

3.4 Rate of change of roll error input

The “Rate Of Error” input, which represents the rate of the
error input, consists of five membership [Link]
Negative (NB): Small Negative (NS): Zero Acceleration
(ZZ)Small Positive (PS): Big Positive (PB)

Fig 9 Roll output membership function

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 International Journal of Computer Applications (0975 – 888)
Volume 47– No.13, June 2012

These fuzzy membership values are used in the rule base in shows that of roll. In yaw response there is less overshoot and
order to execute the related rules so that an output can be oscillations compared to roll response.
generated.A fuzzy control that has three hundred and ten rules
is realized. These rules have been utilized in designing the
controller and some rules are given below.
IF input1 is BN, input2 is BN, input3 is NB and input 4 is NB
THEN output1 is BNT and output2 is NB
IF input1 is BN, input2 is BN, input3 is NB and input 4 is NS
THEN output1 is BNT and output2 is NB
IF input1 is BN, input2 is BN, input3 is NB and input 4 is ZZ
THEN output1 is BNT and output2 is NS
IF input1 is BN, input2 is BN, input3 is NB and input 4 is PS
THEN output1 is BNT and output2 is NS
IF input1 is BN, input2 is BN, input3 is NB and input 4 is PB
THEN output1 is BNT and output2 is ZZ
IF input1 is BN, input2 is BN, input3 is NS and input 4 is NB
THEN output1 is BNT and output2 is NB
And so on…..
An inference mechanism imitates the expert’s decision
making in interpreting and applying knowledge about how Figure 10. The response of the system for yaw and roll
best the plant can be controlled. A defuzzification interface
converts the conclusions of the inference mechanism into the
crisp inputs for the process. 5 CONCLUSIONS
4 APPLICATION AND RESULTS
In this paper, the model of an aircraft lateral control system is
An aircraft lateral control system is simulated using FLC and designed in Matlab/Simulink environment and control
the related simulation results are presented and discussed. methods were proposed. The effect of roll control surface on
Matlab/Simulink model block diagram of this system is yaw and vice versa is also taken into consideration. The
shown in Fig. [Link] subsystem is shown in fig 12. In this system will consider the cross coupling between the transfer
system we had taken the cross-coupling effect of yaw and roll functions so it will be more efficient and accurate than
on each other. Matlab/Simulink blocks are interconnected to separate controller designsUse of fuzzy controller will result
get the required cross coupling. Figure 10 shows the response in an excellent overall response of the [Link] in
of the system to standard step input. Two input steps are oscillations and making the design more stable with less
given, one with a magnitude of 1 unit and other with 2 units to settling time will be our future work. The future work also
differentiate the responses obtained for yaw and roll. The red includes testing and verifying the design in real time
plot shows the yaw control signal output and the blue plot

[Link]/Simulink model for the control system.

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 International Journal of Computer Applications (0975 – 888)
Volume 47– No.13, June 2012

Fig 12. Subsystem for lateral controller

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