ROBUST OPTIMIZATION OF THE UAV GAIN-SCHEDULED FLIGHT CONTROL SYSTEM

Authors

  • A. A. Tunik National Aviation University, Kyiv
  • О. I. Nadsadna ANTONOV Company, Kyiv

DOI:

https://doi.org/10.18372/1990-5548.53.12145

Keywords:

Unmanned aerial vehicle, flight control system, genetic algorithm, gain scheduling, multi-objectives optimization.

Abstract

The paper presents Successive Loop Closure baseline controller for the entire flight envelope of small unmanned aerial vehicle. The suboptimal robust flight control system on a basis of gain-scheduling approach is proposed. Since small unmanned aerial vehicle flights are performed within low altitudes, it is enough to choose as the scheduling-variable value the true air speed only. Furthermore, the H2/Hinf-robust optimization procedure based on the genetic algorithms is well suited to seek a compromise between multi-objectives functions and find compromise between performance and robustness. A discrete gain-scheduled controller is obtained by Lagrange interpolation between local controllers. The design procedure is given by a case study of unmanned aerial vehicle lateral channel control. From the simulation results, gain scheduling control provides a significantly better response than fixed gain control.

Author Biographies

A. A. Tunik, National Aviation University, Kyiv

Educational & Research Institute of Air Navigation

Doctor of Engineering. Professor

О. I. Nadsadna, ANTONOV Company, Kyiv

Engineer-researcher

References

O.O. Abramovich, and A.A. Tunik, “Multi-Model Approach to Parametric Robust Optimization of Digital Flight Control Systems,” Journal of Automation and Information Sciences, Begell House Inc., no. 36(3), pp. 25–34, 2004.

R. W. Beard, and T.W. Randal, Small Unmanned Aircraft: Theory and Practice.− Princeton: Princeton University Press, 2012, 317 p.

F. Blanchini, D. Casagrande, S. Miani, and U. Viaro, “Stable LPV realization of parametric transfer functions and its application to gain-scheduling control design,” IEEE Transactions on Automatic Control, 2010, 55, no. 10, pp. 2271−2281.

J.D. Boskovich, N. Knoebel, and R. Mehra, “An Initial Study of a Combined Robust and Adaptive Control Approach to Guaranteed Performance Flight Control,” American Control Conference, June 11-13, 2008, pp. 5150–5155.

D.E. Goldberg. Genetic Algotithms in Search, Optimization, and Machine Learning. USA: Addison – Wesley Professional, 1989, 432 p.

A.S. Holtsov, R.M. Farhadi, V.I. Kortunov, and A. Mohammadi, “Comparison of the UAV adaptive control with the robust control based on mu-synthesis,” Proceedings of the 4th International Conference on Methods and Systems of Navigation and Motion Control (MSNMC). Kyiv: NAU, 2016, pp. 18−21.

McLean D. Automatic flight control systems. Y: Prentice Hall, 1990, 593 p.

О.I. Nadsadna, “Static output feedback design of robust gain scheduled control system,” Electronics and control systems. no. 1(47), pp. 43–49, 2016.

E. Schoemig and M. Sznaier, “Mixed H2/H Control of Multi-model Plants,” Journal of Guidance, Control

and Dynamics, no.3, pp. 525–531, May-June 1995.

S. Skogestad and I. Postlethwaite, Multivariable Feedback Control. Analysis and Design. NY: John Wiley & Sons, 1997, 559 p.

V.L. Syrmos, C. Abdallah, and P. Dorato, “Static output feedback: a survey,” Proc. of 33rd IEEE Conference on Decision and Control. Orlando, Florida, 1997, pp. 837–842.

A.A. Tunik and O.P. Basanets, “Synthesis of Robust Discrete Systems for Spinning Body Guidance with Incomplete State Vector Measurement,” Proceedings of NAU, no. 2, 2010, pp. 76–84. (in Ukrainian).

R.M. Yusupov. “Methods of the Sesitivity Theory,”. in Handbook on the Automatic Control Theory, Ch. 14 in the book A.A. Krassovsky ed., Moscow: Nauka, 1987, 712 p. (in Russian).

Unmanned Dynamics LLC, AEROSIM BLOCKSET Version 1.2 User’s Guide, 2003.

Downloads

How to Cite

Tunik, A. A., & Nadsadna О. I. (2017). ROBUST OPTIMIZATION OF THE UAV GAIN-SCHEDULED FLIGHT CONTROL SYSTEM. Electronics and Control Systems, 3(53), 67–74. https://doi.org/10.18372/1990-5548.53.12145

Issue

Vol. 3 No. 53 (2017)

Section

AUTOMATIC CONTROL SYSTEMS

License

The scientific journal “Electronics and control systems” adheres to the principles of Open Access and provides free, immediate, and permanent access to all published materials without financial, technical, or legal barriers for readers.

All articles are published in Open Access under the Creative Commons Attribution 4.0 International (CC BY 4.0) license.

Copyright

Authors who publish their works in the journal “Electronics and control systems”:

  • retain the copyright to their publications;

  • grant the journal the right of first publication of the article;

  • agree to the distribution of their materials under the CC BY 4.0 license;

  • have the right to reuse, archive, and distribute their works (including in institutional and subject repositories), provided that proper reference is made to the original publication in the journal.