Abstract
This paper presents a complete trajectory tracking controller design for an Unmanned Air Vehicle using Linear Parameter Varying design methods. The longitudinal and lateral controllers are designed using an inner loop – outer loop structure with the inner loop LPV controller designed using µ- synthesis. The inner-loop is then approximated with a reference model and the outer loop is designed using loop-shaping techniques. Full scale nonlinear simulations are used to test the efficiency of the designed controller and of the proposed design approach.
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