Talk: Robust Adaptive Control with Reduced Conservatism for a Convertible UAV
Paper presented at the IFAC World Congress 2023
Abstract:
This work proposes a robust adaptive mixing controller to achieve trajectory tracking throughout the full-flight envelope, with ensured stability, of a quad-tiltorotor convertible plane (CP) vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), here called QuadCP-VTOL UAV. Accordingly, a nonlinear multi-body dynamic model is obtained using the Euler-Lagrange formalism, from which a linear parameter-varying (LPV) model is derived to describe the dynamics of the QuadCP-VTOL UAV within its flight envelope. The set containing the UAV's flight envelope is partitioned into subsets and, for each subset, a less conservative formulation of the linear robust mixed H2/H-infinity candidate controller is proposed. An adaptive mixing scheme is employed to perform a convex combination of the candidate controllers within the subsets intersection. Results of Hardware-In-the-Loop (HIL) experiments are presented to corroborate the efficacy of the proposed control strategy.
Watch video Talk: Robust Adaptive Control with Reduced Conservatism for a Convertible UAV online without registration, duration hours minute second in high quality. This video was added by user macro@ufmg 30 July 2023, don't forget to share it with your friends and acquaintances, it has been viewed on our site 87 once and liked it 2 people.