Robust gain-scheduled control of a uav based on a polytopic model approximation

Juan A. Ramirez, Luis B. Gutierrez, Rafael E. Vasquez

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    1 Scopus citations

    Abstract

    This work addresses the design of a robust Hgainscheduled controller for the Condor Andino UAV (Unmanned Aerial Vehicle). A polytopic approximation of the linearization family of the nonlinear model is used for the design. Because the linearization family in the operating region derives in a linear parameter varying (LPV) description with a nonlinear dependence of a set of parameters, a least squares approximation of the system matrices is used in order to obtain affine dependence. The polytopic description is obtained from the affine LPV model when the operating range is defined choosing the varying parameter inside a convex hull. The controller is synthesized using the Bounded Real Lemma in order to guarantee quadratic Hperformance over the operating region. The simulation results show that the designed controller can be successfully applied to the nonlinear system over the operating range.

    Original languageEnglish
    Title of host publicationASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
    Pages91-99
    Number of pages9
    EditionPARTS A AND B
    DOIs
    StatePublished - 2010
    EventASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010 - Vancouver, BC, Canada
    Duration: 12 Nov 201018 Nov 2010

    Publication series

    NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
    NumberPARTS A AND B
    Volume8

    Conference

    ConferenceASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
    Country/TerritoryCanada
    CityVancouver, BC
    Period12/11/1018/11/10

    Keywords

    • Gain scheduling
    • H
    • Polytopic systems
    • Robust control
    • Uav

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