This work addresses the design of a robust H∞ gain-scheduled controller for the Condor Andino UAV (Unmanned Aerial Vehicle). A polytopic approximation of the linearization family of the nonlinear model is used for the design. Because the linearization family in the operating region derives in a linear parameter varying (LPV) description with a nonlinear dependence of a set of parameters, a least squares approximation of the system matrices is used in order to obtain affine dependence. The polytopic description is obtained from the affine LPV model when the operating range is defined choosing the varying parameter inside a convex hull. The controller is synthesized using the Bounded Real Lemma in order to guarantee quadratic H∞ performance over the operating region. The simulation results show that the designed controller can be successfully applied to the nonlinear system over the operating range.
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ASME 2010 International Mechanical Engineering Congress and Exposition
November 12–18, 2010
Vancouver, British Columbia, Canada
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4445-8
PROCEEDINGS PAPER
Robust Gain-Scheduled Control of a UAV Based on a Polytopic Model Approximation Available to Purchase
Juan A. Ramirez,
Juan A. Ramirez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
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Luis B. Gutierrez,
Luis B. Gutierrez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
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Rafael E. Vasquez
Rafael E. Vasquez
University of Florida, Gainesville, FL
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Juan A. Ramirez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Luis B. Gutierrez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Rafael E. Vasquez
University of Florida, Gainesville, FL
Paper No:
IMECE2010-38437, pp. 91-99; 9 pages
Published Online:
April 30, 2012
Citation
Ramirez, JA, Gutierrez, LB, & Vasquez, RE. "Robust Gain-Scheduled Control of a UAV Based on a Polytopic Model Approximation." Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 8: Dynamic Systems and Control, Parts A and B. Vancouver, British Columbia, Canada. November 12–18, 2010. pp. 91-99. ASME. https://doi.org/10.1115/IMECE2010-38437
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