Two robust static output feedback H<inf>∞</inf> control architectures for a Gun Launched Micro Aerial Vehicle

Abstract

In this paper, the design process of two robust H∞ control architectures for a Gun Launched Micro Aerial Vehicle - GLMAV - is presented. The process starts with the developement of a nonlinear dynamic model reflecting the important elements of the GLMAV. This model is then linearized around hover and used for the design of static output feedback H∞ controllers for position and orientation control. Unlike the full-order H∞ controller synthesis case, the H∞ optimization problem of static output feedback (SOF) controllers cannot be parameterized as a convex optimization problem. The cone complementarity linearization algorithm is therefore used to overcome the nonconvexity problem due to the constraint on the controller order. Finally, numerical simulations show the efficiency of the designed controllers.