Implementation of the robust control in the mini autopilot for an unmanned air vehicle

Farhadi, Rahman Mohammadi; Кортунов, В.И.; Mohammadi, Ali

doi:10.1109/apuavd.2017.8308767

Cited by 2 publications

(3 citation statements)

References 8 publications

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“…A 25 ms time-delay model is used in the design method with the presence of artificial GTDM. The roll and lateral model and parameters of the Skywalker X8 given in [1] are used here. The closed loop system with GTDM is shown in Fig.…”

Section: Robust Pid Control Of the Skywalker X8 Roll And Lateral Chan...mentioning

confidence: 99%

“…So recently, research has been conducted on finding optimal parameters for simple controller and PIDs. Different methods for adjusting of the parameters for PID and robust PID controllers such as Ziggler Nichols method, Kappa Tauing Tuning, pole placement, design based on gain and phase margins, interval polynomial method, QFD method, Kharitanovbased methods, Nyquist-based methods, tuning based on the genetic algorithm, loop shaping, and so on were developed [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

“…In practice, for the design of the UAV control system, the successful control loop closure is usually used [5]. However, nonlinear dynamics of the unmanned aerial vehicle due to speed variations, as well as variability and uncertainty of the aerodynamic coefficients, can be considered as an uncertain model [1,2,6,7]. Adaptive, robust mu-synthesis and robust gain scheduling control methods were applied to the UAVs [1][2][3]8].…”

Section: Introductionmentioning

confidence: 99%

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Cинтез Робастного Під-Регулятора Для Невизначеної Нелінійної Моделі Бпла З Використанням Штучної Моделі Посилення І Тимчасової Затримки

Мохаммади,

Кортунов

2019

reks

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Estimations of the flight vehicles aerodynamic coefficients through the theoretical, numerical, wind tunnel and flight-test methods have always errors and uncertainties. Nonlinear dynamics of the unmanned aerial vehicle due to speed variations, as well as variability and uncertainty of the aerodynamic coefficients can be considered as an uncertain model. A robust proportional-integral-derivative controller is designed based on the nonlinear optimization in the time domain for the uncertain nonlinear dynamical model of the unmanned aerial vehicle. Artificial gain and time-delay models are added to achieve required stability margins as system robustness during the robust proportional-integral-derivative control design. The aerodynamic coefficients are divided into two groups on the basis of the output vector's sensitivity to the aerodynamic coefficients. Nonlinear optimization of the criterion is performed in two steps for the robust proportional-integral-derivative controller design. In the first step of the design, nominal values are used for coefficients with low-sensitivity, and upper and lower limits are used only for high sensitive aerodynamic coefficients. In the second step, the upper and lower limits are applied all of the aerodynamic coefficients to evaluate and re-adjust the robust proportional-integral-derivative controller parameters. The robust controller is designed for the uncertain nonlinear roll and lateral dynamic model of the Skywalker X8 flying wing to show the effectiveness of the proposed method to guarantee the stability margins. In the given example during the design of the robust controller, with adding of the artificial gain and time-delay model in the control loop the controller parameters are changed. This regulator increases the phase stability margin by about 10 degrees and the gain stability margin by about two for the family of the equivalent uncertain linear models.

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Section: Robust Pid Control Of the Skywalker X8 Roll And Lateral Chan...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Cинтез Робастного Під-Регулятора Для Невизначеної Нелінійної Моделі Бпла З Використанням Штучної Моделі Посилення І Тимчасової Затримки

Мохаммади,

Кортунов

2019

reks

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A comparison of Gain Scheduling PID and $\mu$-Synthesis Robust Level Control for a Conical Tank System

Cruz

Fernandez

Guizado

et al. 2021

2021 IEEE XXVIII International Conference on Electronics, Electrical Engineering and Computing (INTERCON)

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Implementation of the robust control in the mini autopilot for an unmanned air vehicle

Cited by 2 publications

References 8 publications

Cинтез Робастного Під-Регулятора Для Невизначеної Нелінійної Моделі Бпла З Використанням Штучної Моделі Посилення І Тимчасової Затримки

Cинтез Робастного Під-Регулятора Для Невизначеної Нелінійної Моделі Бпла З Використанням Штучної Моделі Посилення І Тимчасової Затримки

A comparison of Gain Scheduling PID and $\mu$-Synthesis Robust Level Control for a Conical Tank System

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