A. A. Tunik, О. I. Nadsadna


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.


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


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