Polytopic Attitude Control System for Nonlinear Unmanned Rotorcraft

被引：0
|
作者：
Tarighi, Reza [1 ]
Mazinan, Amir Hooshang [1 ]
Kazemi, Mohammad Hosein [2 ]
机构：
[1] Islamic Azad Univ, Dept Control Engn, Fac Elect Engn, South Tehran Branch, Tehran, Iran
[2] Shahed Univ, Fac Elect Engn, Tehran, Iran
来源：
IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY-TRANSACTIONS OF ELECTRICAL ENGINEERING | 2021年 / 45卷 / 03期
关键词：
Polytopic linear parameter varying; Unmanned rotorcraft; Flight control system; Attitude control;
D O I：
10.1007/s40998-021-00412-1
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Attitude control of unmanned rotorcrafts (UR) is most critical phase of flight control system design since it has main role in system stability and maneuverability. This paper presents a novel attitude control scheme for an UR. In this research, a polytypic linear parameter varying (PLPV) model of unmanned helicopter is derived based on its nonlinear dynamic model and a set of linear matrix inequalities is defined to design the attitude control system. The PLPV model is generated by linearization of the nonlinear dynamic model around several trim points. The proposed control system design is evaluated by applying generated control inputs in perturbing and non-perturbing environment condition and also affected by uncertainty. The stability performance of the system has been analyzed in different modes and positions. The results clearly show that the PLPV control system can maintain complete stability of unmanned helicopter in different scenarios.
引用
收藏
页码：747 / 760
页数：14
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