Beyond the Classical Performance Limitations Controlling Uncertain MIMO Systems: UAV Applications

Abstract : This paper summarizes a new methodology to design sequential non-diagonal QFT controllers for multi-input multi-output MIMO systems with uncertainty, which is a central issue in UAV control systems. It also demonstrates the feasibility of that methodology to control the position and attitude of a 6x6 MIMO spacecraft with large flexible appendages. The last part of the paper introduces a new practical methodology to design robust controllers that work under a switching mechanism, going beyond the classical linear limitations and giving a solution for the well-known robustness- performance trade-off.

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