Robust Nonlinear Controller Design for a Complete UAV Mission

A robust nonlinear controller is designed for a complete Unmanned Aerial Vehicle UAV mission employing a combination of dynamic inversion and H∞ control. An inner-loop/outer-loop control structure is employed to synthesize a full envelope nonlinear controller for a complete UAV mission. In the inner loop, a modified time-scale separation approach is employed to feedback linearize the nonlinear model. In the outer loop, an H∞ control procedure is used to achieve performance and robustness design goals. The reference flight envelope is a complete mission. The uncertainties considered include uncertainty in UAV model parameters such as the stability derivatives, weight, center of gravity location, and airspeed variations. Atmospheric disturbances and measurement noise are also included. Since robustness and disturbance rejection must be verified, flight simulation under a variety of uncertainties is performed using MATLAB/Simulink.

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