Disturbance rejection in a fixed wing UAV using nonlinear H&lt;inf&gt;&amp;#x221E;&lt;/inf&gt; state feedback

Ferreira, Henrique C.; Baptista, Roberto de Souza; Ishihara, J.Y.; Borges, Geovany A.

doi:10.1109/icca.2011.6138036

Cited by 16 publications

(11 citation statements)

References 22 publications

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“…In equation (9), v is the order derivative of y m , α is a nonphysical constant parameter and is an element of R. Moreover, the exploitation of this numerical model requires the knowledge of F y . This quantity represents the real dynamics of the model as well as the different disturbances which could damage the output-system performances.…”

Section: A Mfc Theorymentioning

confidence: 99%

Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis

Barth¹,

Condomines²,

Moschetta

et al. 2018

2018 23rd International Conference on Methods &Amp; Models in Automation &Amp; Robotics (MMAR)

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This paper presents first results of an innovative Model-Free Control (MFC) architecture applied to fixed-wing UAVs. MFC is an algorithm dedicated to systems with poor modeling knowledge. Indeed, the costs to derive a reliable and representative aerodynamic model for UAVs motivated the use of such a controller. By exploiting a purely numerical model, this algorithm provides an intuitive method to tune the control loop without any information about the controlled system. We propose to extend the MFC architecture to the case of fixedwing UAVs and study the MFC properties in terms of uncertain parameters. As a first result, our designed MFC architecture provides a continuous controller able to stabilize the entire flight envelope of two different fixed-wing UAVs. These results show promising adaptive perspectives and demonstrate that MFC presents robust properties for both uncertain parameters and disturbance rejection.

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Section: A Mfc Theorymentioning

confidence: 99%

Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis

Barth¹,

Condomines²,

Moschetta

et al. 2018

2018 23rd International Conference on Methods &Amp; Models in Automation &Amp; Robotics (MMAR)

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“…Wherefore, it is advisable to use robust control algorithms to deal with cited problems. Several approaches have been proposed such as: fuzzy control [3], nonlinear H∞ state feedback [4], neural control [5], nonlinear control [6], etc. Variable structure control algorithm generating sliding mode (SM) is well-known contol law.…”

Section: Introductionmentioning

confidence: 99%

Second Order Sliding Mode Control Using Homogeneity Approach to Control a Fixed-Wing UAV

Melkou¹,

Hamerlain²

2019

IJCEE

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The purpose of this paper consists of developing a robust control law for a fixed wing Unmanned Aerial Vehicle (UAV). To reach such a goal, a homogeneous continuous super twisting algorithm is used to solve the problem of attitude control for an aircraft model known by its nonlinearity and its strong coupling. Being a class of high order sliding mode (HOSM) control, super twisting algorithm (STW) allows finite time output convergence and chattering minimization for systems having relative degree equal to one. Hence, the use of homogeneity that allows the implementation of HOSM to control systems that have relative degree greater than one. Simulation results are shown to demonstrate the robustness of the proposed controller.

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“…Furthermore, a nonlinear robust ℋ ∞ output feedback controller is explored in Lu et al (2000). Several articles (Ferreira et al, 2011; Hioe et al, 2014; Hu and Chang, 1998; Tsiotras et al, 1998) have exploited the different applications of nonlinear ℋ ∞ control algorithms. In Hu and Chang (1998), a nonlinear ℋ ∞ control algorithm is realized for an inverted pendulum system that uses a successive algorithm in order to determine a solution for the Hamiltonian function.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear ℋ_∞ state and output feedback control schemes for an autonomous underwater vehicle in the dive plane

Mahapatra

Subudhi

2017

Transactions of the Institute of Measurement and Control

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This paper addresses the development of a nonlinear ℋ∞ diving control algorithm for an autonomous underwater vehicle. It employs both state and output feedback control techniques in designing a nonlinear ℋ∞ controller such that the autonomous underwater vehicle tracks the desired depth profile. The diving control problem is formulated as a disturbance attenuation problem, in view of achieving the desired performance by attenuating the internal as well as the external disturbances by ensuring internal stability and robustness. Two Hamilton–Jacobi–Isaacs inequalities have been formulated in the form of a Taylor series technique to determine solutions to the control algorithms. The solution of the first Hamilton–Jacobi–Isaacs inequality renders a state feedback control law whereas the second inequality is exploited to design a nonlinear observer for estimating the autonomous underwater vehicle states in order to realize an output feedback controller. These control algorithms are implemented firstly using the MATLAB/Simulink environment and then, the experimental validation of the developed control algorithm has been performed in order to ensure the effectiveness of the control scheme.

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Disturbance rejection in a fixed wing UAV using nonlinear H<inf>∞</inf> state feedback

Cited by 16 publications

References 22 publications

Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis

Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis

Second Order Sliding Mode Control Using Homogeneity Approach to Control a Fixed-Wing UAV

Nonlinear ℋ_∞ state and output feedback control schemes for an autonomous underwater vehicle in the dive plane

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Disturbance rejection in a fixed wing UAV using nonlinear H<inf>&#x221E;</inf> state feedback

Cited by 16 publications

References 22 publications

Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis

Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis

Second Order Sliding Mode Control Using Homogeneity Approach to Control a Fixed-Wing UAV

Nonlinear ℋ∞ state and output feedback control schemes for an autonomous underwater vehicle in the dive plane

Contact Info

Product

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Disturbance rejection in a fixed wing UAV using nonlinear H<inf>∞</inf> state feedback

Nonlinear ℋ_∞ state and output feedback control schemes for an autonomous underwater vehicle in the dive plane