Dynamic output feedback control of morphing UAV based on LOSS

Attitude control problem for a class of UAV (Unmanned Aerial Vehicle) with morphing wing is investigated. First, the small perturbation state space model of morphing UAV´s longitudinal short-period motion is derived. Then, we select the wing sweep angle as the switching signal, the morphing UAV is modeled as a class of switched systems with the overlapped switched law based on the overlapped switched systems(LOSS), the dynamic output feedback controller design method is given, and the switched systems are augmented as close-loop systems. After that, combined with the common Lyapunov function method and the dwell time method, we analyses the stability of the closed loop switched systems, and arrive at the conclusion that the LOSS is globally asymptotically stable so long as they have common Lyapunov function and the working time of the common subsystems is long enough. Finally, take the Fire-Bee as an example to show the validity of the proposed scheme.