Using the architecture description language MetaH for designing and prototyping an embedded reconfigurable sliding mode flight controller

This work utilizes an integrated tool set consisting of the domain specific language Simulink, the BEACON code generator, and the architecture description language MetaH to prototype a new method for reconfiguring control systems. The model system selected is a simplified model of a derivative F-16 aircraft flying at 10,000 ft. at mach 0.7. Sliding mode controller design consists of two steps. First, a suitable hypersurface is selected such that linear tracking error behavior with desired eigenvalues placement is achieved on the surface. Then the control is found in order to guarantee the hypersurface is reached in finite time and is maintained thereafter. This guarantees the desired decoupled tracking response in sliding mode and insensitivity to external disturbances and parametric uncertainties. Smoothing of the control input is achieved via the saturation function and reconfiguration of the controller is accomplished by dynamically varying the boundary layer thickness. A model of the controller and aircraft are created using Simulink. The BEACON code generator is then used to generate code packages describing the aircraft and controller systems. MetaH is used to create a software architecture for integration of the controller and aircraft subsystems, to simplify software module integration, to create an executable for the embedded target, and to switch flight controller modes to enable the reconfigured controller.