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A Robust H ∞ Controller for an UAV Flight Control System.

López J, Dormido R, Dormido S, Gómez JP - ScientificWorldJournal (2015)

Bottom Line: A robust inner-outer loop strategy is implemented.The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft.The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

View Article: PubMed Central - PubMed

Affiliation: Dynamic Systems Research Group, Universidad Politécnica de Madrid (ETSIA/EUITA), Plaza Cardenal Cisneros 3, 28040 Madrid, Spain.

ABSTRACT
The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

No MeSH data available.


Inner loop architecture.
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Related In: Results  -  Collection


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fig4: Inner loop architecture.

Mentions: Figure 4 shows the inner loop architecture. Its main goal is to minimize both the deviation to desired output and the control effort. ri ∈ R3 is the reference input vector, whose components are the vertical speed, airspeed, and the roll angle. u ∈ R4 is the control signal. z1 ∈ R3 is the vector of performance outputs. z2 ∈ R2 is the vector of weighted control inputs. The feedback variables are the vertical speed, airspeed, the roll angle, the pitch rate, the yaw rate, the roll rate, and the sideslip.


A Robust H ∞ Controller for an UAV Flight Control System.

López J, Dormido R, Dormido S, Gómez JP - ScientificWorldJournal (2015)

Inner loop architecture.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4477258&req=5

fig4: Inner loop architecture.
Mentions: Figure 4 shows the inner loop architecture. Its main goal is to minimize both the deviation to desired output and the control effort. ri ∈ R3 is the reference input vector, whose components are the vertical speed, airspeed, and the roll angle. u ∈ R4 is the control signal. z1 ∈ R3 is the vector of performance outputs. z2 ∈ R2 is the vector of weighted control inputs. The feedback variables are the vertical speed, airspeed, the roll angle, the pitch rate, the yaw rate, the roll rate, and the sideslip.

Bottom Line: A robust inner-outer loop strategy is implemented.The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft.The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

View Article: PubMed Central - PubMed

Affiliation: Dynamic Systems Research Group, Universidad Politécnica de Madrid (ETSIA/EUITA), Plaza Cardenal Cisneros 3, 28040 Madrid, Spain.

ABSTRACT
The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

No MeSH data available.