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

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

    Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

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    Resumen

    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.

    Idioma originalInglés
    Título de la publicación alojadaASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
    Páginas91-99
    Número de páginas9
    EdiciónPARTS A AND B
    DOI
    EstadoPublicada - 2010
    EventoASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010 - Vancouver, BC, Canadá
    Duración: 12 nov. 201018 nov. 2010

    Serie de la publicación

    NombreASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
    NúmeroPARTS A AND B
    Volumen8

    Conferencia

    ConferenciaASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
    País/TerritorioCanadá
    CiudadVancouver, BC
    Período12/11/1018/11/10

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