Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 10, Issue 2, Pages 190-200Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2015.0641
Keywords
autonomous aerial vehicles; robust control; H control; control system synthesis; robust H control; miniature unmanned aerial vehicles; finite frequency strategy; control synthesis; hovering capability; wind disturbances; time-scale techniques; six-degree-freedom flight system; slow-varying translational dynamics; Euler angles; fast-varying angular velocities; disjoint frequency ranges; handling qualities; flying qualities; wind characteristics; flexible strategy; weather conditions
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Funding
- Fundamental Research Funds for the Central Universities [30920140112005, 30915011105, 30915011104]
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This study presents H-infinity control synthesis of a miniature unmanned aerial vehicle to improve its hovering capability in the presence of wind disturbances. By time-scale techniques, the six-degree-freedom flight system can be decoupled into subsystems in different time-scales: one including slow-varying translational dynamics and Euler angles, and another composed of fast-varying angular velocities. To avoid contradictions between subsystems, control specifications for subsystems are classified, respectively, in disjoint frequency ranges. Robust H controllers, applied directly to the original flight system, are formulated by composing the sub-controllers. To achieve desired handling and flying qualities, wind characteristics are considered, and a novel flexible strategy is then developed to ensure an adequate response in all flight modes under different weather conditions. The effectiveness and merits of the proposed methods are illustrated with a simulation example.
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