Optimal H-infinity PID Model Reference Controller Design for Roll Control of a Tail-Sitter VTOL UAV

Ali H Mhmood,Hazem I Ali

doi:10.30684/etj.v39i4a.1861

Abstract

In this work, an optimal and robust controller based on consolidating the PID controller and H-infinity approach with the model reference control is proposed. The proposed controller is intended to accomplish a satisfactory transient response by including the reference model. A Tail-Sitter VTOL UAV system is used to show the effectiveness of the proposed controller. A dynamic model of the system is formulated using Euler method. To optimize the design procedure, the Black Hole Optimization (BHO) method is used as a new Calibration method. The deviation between the reference model output and system output will be minimized to obtain the required specifications. The results indicate that the proposed controller is very powerful in compensating the system parameters variations and in forcing the system output to asymptotically track the output of the reference model.

Highlights

IntroductionThe study and advancement of Unmanned Aerial Vehicles (UAVs) have developed because they can be utilized in applications ranging from civilian to military applications
Unmanned Aerial Vehicles (UAVs) are aircraft equipped for flying without pilots
We present the simulation and implementation of the optimal H-infinity PID model reference controller, which is introduced in the previous section, for a tail-sitter vertical takeoff and landing (VTOL) UAV aircraft system using the Black Hole Optimization (BHO) algorithm

Summary

Introduction

The study and advancement of UAVs have developed because they can be utilized in applications ranging from civilian to military applications. They have been generally used in aerial imagery, mapping, monitoring, policing fields, etc. From one point of view, traditional fixed-wing aircraft have established reliability, long flight time, and flight efficiency, but they cannot fly or hover at low Publishing rights belongs to University of Technology’s Press, Baghdad, Iraq. On the other point of view, hovering platforms have the operational flexibility of having the option to take-off vertically, hover, and land vertically, they typically have drawbacks in forwarding flight, such as low speed and helpless continuance [1]

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Conclusion