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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.


Ground Control Station GUI.
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fig14: Ground Control Station GUI.

Mentions: To manage the UAV platform, a ground station is developed (see Figure 14). It enables following the position and the attitude of the aircraft directly on a map shown in the computer. It also allows showing the main variables of the UAV which are sent through a radio link. The ground station allows introducing a set of waypoints. The autopilot takes care of both navigation and stability of the plane. The mission is planned via waypoints, placing on a geo referred map the position of each waypoint at the beginning of the mission. This mission can be easily modified during its execution by adding/changing/removing waypoints in the map.


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

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

Ground Control Station GUI.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig14: Ground Control Station GUI.
Mentions: To manage the UAV platform, a ground station is developed (see Figure 14). It enables following the position and the attitude of the aircraft directly on a map shown in the computer. It also allows showing the main variables of the UAV which are sent through a radio link. The ground station allows introducing a set of waypoints. The autopilot takes care of both navigation and stability of the plane. The mission is planned via waypoints, placing on a geo referred map the position of each waypoint at the beginning of the mission. This mission can be easily modified during its execution by adding/changing/removing waypoints in the map.

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.