Implementation and investigation of a robust control algorithm for an unmanned micro-aerial vehicle

Abstract

This paper presents a new method for implementation and realization of an optimal robust control algorithm in the real-time hardware-in-the-loop simulation environment for a mathematical model of the dynamics of the BULLIT micro-aircraft, with consideration of non-linearity, uncertainty, and non-stationarity of its parameters. The robust optimal control method, μ-Synthesis, applied to the autonomous flight dynamics control system of the unmanned aerial vehicle (UAV) meets desired control performances. The serial connection between the Gumstix micro-computer and the Kestrel autopilot extends the ability to implement high order robust controllers. The code of the control algorithm implemented (in the C++ language) in the memory of a Gumstix Verdex Pro single-chip micro-computer enables optimization of the threads-based approach. The hardware-in-the-loop (HIL) simulation mode was implemented in the Kestrel autopilot inner loop, and simulations of all stages of flight were performed in real-time using the actual model of the aircraft and autopilot. Finally, HIL simulations and tests were conducted in order to verify the developed control algorithm.