Experimental Results for Kalman Filter Modification in Adaptive Control

Modern flight control systems are expected to perform beyond their conventional flight envelopes and exhibit robustness and adaptability to uncertain environments and failures. Adaptive control has been shown to improve the performance of a flight control system in the presence of uncertainties and failures. It is well known that modification to standard laws such as e-modification, σ-modification and others are employed in adaptive control schemes to ensure boundedness of the adaptive parameters. In this paper flight test results from a small twin engine aircraft with a novel Kalman filter implementation of of an adaptive loop recovery modification term that preserves loop properties are presented.