Title :
Robust Control of Unmanned Arial Vehicles
Author :
Athanasius, G.X. ; Zhu, J.G. ; Sreenatha, A.G.
Author_Institution :
Sch. of Electr., Univ. of Technol. Sydney, Sydney, NSW, Australia
Abstract :
The dynamics of the UAVs are highly nonlinear and continuously vary with time. Also they are subjected to severe external disturbances. Due to this, dynamic and parametric uncertainties arise in the mathematical model of the UAVs over different operating conditions. This paper addresses the problem of designing robust control system for UAVs in the presence of uncertainties using minimax LQG (linear quadratic Gaussian) design methodology. Using this approach the parameter variations and the model uncertainties are represented using integral quadratic constraints (IQCs). Controllers are synthesised using LMI approach. The designed controllers provide robust performance in the presence of the specified uncertainties.
Keywords :
aerospace control; control system synthesis; linear matrix inequalities; linear quadratic Gaussian control; remotely operated vehicles; robust control; LMI approach; integral quadratic constraints; linear quadratic Gaussian design methodology; parameter variations; robust control; unmanned arial vehicles; Aerodynamics; Australia; Design methodology; Minimax techniques; Nonlinear dynamical systems; Nonlinear equations; Robust control; Uncertainty; Unmanned aerial vehicles; Vehicle dynamics; Integral Quadratic Constraints; UAV control; parameter variation; robust control;
Conference_Titel :
Advances in Computing, Control, & Telecommunication Technologies, 2009. ACT '09. International Conference on
Conference_Location :
Trivandrum, Kerala
Print_ISBN :
978-1-4244-5321-4
Electronic_ISBN :
978-0-7695-3915-7
DOI :
10.1109/ACT.2009.46
