ROBUST OPTIMIZATION OF THE UAV GAIN-SCHEDULED FLIGHT CONTROL SYSTEM
DOI:
https://doi.org/10.18372/1990-5548.53.12145Keywords:
Unmanned aerial vehicle, flight control system, genetic algorithm, gain scheduling, multi-objectives optimization.Abstract
The paper presents Successive Loop Closure baseline controller for the entire flight envelope of small unmanned aerial vehicle. The suboptimal robust flight control system on a basis of gain-scheduling approach is proposed. Since small unmanned aerial vehicle flights are performed within low altitudes, it is enough to choose as the scheduling-variable value the true air speed only. Furthermore, the H2/Hinf-robust optimization procedure based on the genetic algorithms is well suited to seek a compromise between multi-objectives functions and find compromise between performance and robustness. A discrete gain-scheduled controller is obtained by Lagrange interpolation between local controllers. The design procedure is given by a case study of unmanned aerial vehicle lateral channel control. From the simulation results, gain scheduling control provides a significantly better response than fixed gain control.
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