title: A Robust H ∞ Controller for an UAV Flight Control System.
abstract: The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.
authors.affiliation: Dynamic Systems Research Group, Universidad Politécnica de Madrid (ETSIA/EUITA), Plaza Cardenal Cisneros 3, 28040 Madrid, Spain.
authors.forename: J
authors.initials: J
authors.lastname: López
authors.affiliation: Department of Computer Sciences and Automatic Control, UNED, Calle Juan del Rosal 16, 28040 Madrid, Spain.
authors.forename: R
authors.initials: R
authors.lastname: Dormido
authors.affiliation: Department of Computer Sciences and Automatic Control, UNED, Calle Juan del Rosal 16, 28040 Madrid, Spain.
authors.forename: S
authors.initials: S
authors.lastname: Dormido
authors.affiliation: Dynamic Systems Research Group, Universidad Politécnica de Madrid (ETSIA/EUITA), Plaza Cardenal Cisneros 3, 28040 Madrid, Spain.
authors.forename: J P
authors.initials: JP
authors.lastname: Gómez