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

J López,J P Gómez,R Dormido,S Dormido

doi:10.1155/2015/403236

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.

Highlights

There is a considerable and great interest in using unmanned air vehicles (UAVs) to perform a multitude of tasks [1]
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
200 400 600 800 Position x (m) the computer. It allows showing the main variables of the UAV which are sent through a radio link

Summary

Introduction

There is a considerable and great interest in using unmanned air vehicles (UAVs) to perform a multitude of tasks [1]. UAVs have many typical applications such as intervention in industrial plants, natural disasters intervention, cooperation with other ground robots in demining operations, through aerial mapping, remote environmental research, pollution assessment and monitoring, fire-fighting management, security, for example, border monitoring, law enforcement, scientific missions, agricultural and fisheries applications, oceanography, or communications relays for wideband applications. Due to their numerous benefits, it would be nice to decrease the global cost of this type of aircraft. The flight control design problem for low cost UAV still requires significant efforts, being the control and dynamic modeling of UAVs which is an attractive field of research

Objectives

Results

Conclusion