An effective design of LPV based robust gain- scheduling controller for Morphing-Wing UAV

Robust Gain-scheduling control of LPV (Linear Parameter-Varying) system is studied and applied on a Morphing-Wing UAV (MUAV). LPV output feedback control and issues on its realizability are researched in theory, after that, LPV model of MUAV is setup based on Jacobian linearization and an attitude control is designed in pitch axis for the whole morphing process. Structure singular value analysis and Monte-Carlo Simulation are performed to evaluate our design in linear and nonlinear cases respectively, which demonstrate satisfactory tracking performance and robustness of the controller proposed, thus showing our design is indeed effective. At last, we give a conclusion with discussion, which points out the method can be improved in two ways.