ROBUST OPTIMIZATION OF THE UAV GAIN-SCHEDULED FLIGHT CONTROL SYSTEM

A. A. Tunik, О. I. Nadsadna

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.


Keywords


Unmanned aerial vehicle; flight control system; genetic algorithm; gain scheduling; multi-objectives optimization.

References


O.O. Abramovich, and A.A. Tunik, “Multi-Model Approach to Parametric Robust Optimization of Digital Flight Control Systems,” Journal of Automation and Information Sciences, Begell House Inc., no. 36(3), pp. 25–34, 2004.

R. W. Beard, and T.W. Randal, Small Unmanned Aircraft: Theory and Practice.− Princeton: Princeton University Press, 2012, 317 p.

F. Blanchini, D. Casagrande, S. Miani, and U. Viaro, “Stable LPV realization of parametric transfer functions and its application to gain-scheduling control design,” IEEE Transactions on Automatic Control, 2010, 55, no. 10, pp. 2271−2281.

J.D. Boskovich, N. Knoebel, and R. Mehra, “An Initial Study of a Combined Robust and Adaptive Control Approach to Guaranteed Performance Flight Control,” American Control Conference, June 11-13, 2008, pp. 5150–5155.

D.E. Goldberg. Genetic Algotithms in Search, Optimization, and Machine Learning. USA: Addison – Wesley Professional, 1989, 432 p.

A.S. Holtsov, R.M. Farhadi, V.I. Kortunov, and A. Mohammadi, “Comparison of the UAV adaptive control with the robust control based on mu-synthesis,” Proceedings of the 4th International Conference on Methods and Systems of Navigation and Motion Control (MSNMC). Kyiv: NAU, 2016, pp. 18−21.

McLean D. Automatic flight control systems. Y: Prentice Hall, 1990, 593 p.

О.I. Nadsadna, “Static output feedback design of robust gain scheduled control system,” Electronics and control systems. no. 1(47), pp. 43–49, 2016.

E. Schoemig and M. Sznaier, “Mixed H2/H Control of Multi-model Plants,” Journal of Guidance, Control

and Dynamics, no.3, pp. 525–531, May-June 1995.

S. Skogestad and I. Postlethwaite, Multivariable Feedback Control. Analysis and Design. NY: John Wiley & Sons, 1997, 559 p.

V.L. Syrmos, C. Abdallah, and P. Dorato, “Static output feedback: a survey,” Proc. of 33rd IEEE Conference on Decision and Control. Orlando, Florida, 1997, pp. 837–842.

A.A. Tunik and O.P. Basanets, “Synthesis of Robust Discrete Systems for Spinning Body Guidance with Incomplete State Vector Measurement,” Proceedings of NAU, no. 2, 2010, pp. 76–84. (in Ukrainian).

R.M. Yusupov. “Methods of the Sesitivity Theory,”. in Handbook on the Automatic Control Theory, Ch. 14 in the book A.A. Krassovsky ed., Moscow: Nauka, 1987, 712 p. (in Russian).

Unmanned Dynamics LLC, AEROSIM BLOCKSET Version 1.2 User’s Guide, 2003.


Full Text: PDF

Refbacks

  • There are currently no refbacks.


Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.