Title :
A switched control for UAVs
Author :
Sandoval-Torres, R. ; Adam-Medina, M. ; Cervantes, I. ; Diaz-Diaz, I.A.
Author_Institution :
Centro Nac. de Investig. y Desarrollo Tecnol., Cuernavaca, Mexico
Abstract :
This paper analyzes the stability of a class of linear switched control based on a Piecewise Continuous (PWC) description of the aerial vehicle. Sufficient conditions for the existence of a common Lyapunov equation are stated for an output-dependent control law that makes use of an observer to assign closed-loop performance at each mode. The resulting scheme is able to guarantee asymptotic stability to the desired equilibrium set under arbitrary switching. The results are illustrated via numerical simulations in an airplane model.
Keywords :
Lyapunov methods; asymptotic stability; autonomous aerial vehicles; numerical analysis; observers; PWC description; UAV; aerial vehicle; airplane model; arbitrary switching; asymptotic stability; closed-loop performance; common Lyapunov equation; linear switched control; numerical simulations; observer; output-dependent control law; piecewise continuous; Observers; Switches; UAVs; asymptotic stability; linear switching control; picewise continuous system;
Conference_Titel :
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4673-2419-9
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2012.6389014
