Abstract
Some level of uncertainty is unavoidable in acquiring the mass, geometry parameters and stability derivatives of an aerial vehicle. In certain instances tiny perturbations of these could potentially cause considerable variations in flight characteristics. This research considers the impact of varying these parameters altogether. This is a generalization of examining the effects of particular parameters on selected modes present in existing literature. Conventional autopilot designs commonly assume that each flight channel is independent and develop single-input single-output (SISO) controllers for every one, that are utilized in parallel for actual flight. It is demonstrated that an attitude controller built like this can function flawlessly on separate nominal cases, but can become unstable with a perturbation no more than 2%. Two robust multi-input multi-output (MIMO) design strategies, specifically loop-shaping and μ-synthesis are outlined as potential substitutes and are observed to handle large parametric changes of 30% while preserving decent performance. Duplicating the loop-shaping procedure for the outer loop, a complete flight control system is formed. It is confirmed through software-in-the-loop (SIL) verifications utilizing blade element theory (BET) that the autopilot is capable of navigation and landing exposed to high parametric variations and powerful winds.
Highlights
Quite a few applications require automatic flight control techniques that help or even replace the human pilot [1, 2]
Procedures utilized for autopilot design comprise of dynamic inversion [9], nonlinear optimal predictive control [10], reconfigurable flight control laws [11], robust nonlinear control [12], Lyapunov vector fields [13], command filtered backstepping [14], sliding mode control [15], multiple model
We look at two robust Multi-input multi-output (MIMO) design methods, namely loop-shaping and μ-synthesis, which can endure large parametric variations and at the same time maintain decent performance
Summary
Quite a few applications require automatic flight control techniques that help or even replace the human pilot [1, 2]. Conventional autopilot models usually approximate every flight channel as independent and create single-input single-output (SISO) controllers [2]. The operation is continued for every aspect being controlled and all the SISO designs are used concurrently in the ultimate design. This method disregards the couplings amongst the channels. Multi-input multi-output (MIMO) methods are usually preferred for missiles [20,21,22,23], helicopters [24,25,26] and multirotor vehicles [27,28,29,30] where dynamical couplings are dominant
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