Model and robust gain-scheduled PID control of a bio-inspired morphing UAV based on LPV method

Further research based on the author's past work in [1] is performed in this paper. A structural robust gain-scheduled (GS) PID control method is proposed and applied to control the pitch angle for a morphing wing UAV(MUAV) in its transient process. Firstly, the author gives the robust static output feedback (SOF) control method for LPV system and shows that PID control is equivalent to SOF control, thus the robust GS PID control design is derived via SOF. Secondly, the author introduces a structural matrix to structuralize the robust GS PID control, then a structural robust GS PI(D) control design method is derived. The controller is in the same form of PID controller used in practice, which has a more simple structure than the result in [10] and other existing results. At last, the proposed method is applied to control the pitch angle of a MUAV based on a LPV model developed by a Jacobian Linearization method. Linear analysis and nonlinear Monte-Carlo simulation were performed and the results showed that the proposed solution were applicable with satisfactory robustness and performance.

Structural robust gain-scheduled PID control and application on a morphing wing UAV

This paper deals with the robust stability of a class of uncertain switched systems with possibly unstable linear subsystems. In particular, conditions for global uniform exponential stability are presented. In addition, a procedure to design a mode dependent average dwell time switching signal that stabilizes a switched linear system composed of diagonalizable subsystems is established, even if all of them are stable/unstable and time-varying (within design bounds). An illustrative example of the stabilizing switching law design and numerical results are presented.

Robust Stabilization of Linear Switched Systems with Unstable Subsystems

Toward switching/interpolating LPV control: A review

A switched polytopic system is adopted to describe the morphing aircraft dynamics within the full envelope and the stability and stabilization problem is investigated in this investigation. A common Lyapunov function is applied to maintain the stability of each polytopic system and the average dwell time technique is used to ensure the stability of the switched polytopic system. A sufficient condition, which is formulated in terms of linear matrix inequalities, for the existence of a set of state-feedback controller guaranteeing the stability of the polytopic system is given. Finally the simulation results verified the validity of this method to the morphing aircraft.

Robust control of morphing aircraft based on switched polytopic system

In flight control of a morphing aircraft, the design objective and the dynamics may be different in its various configurations. To accommodate different performance goals in different sweep wing configurations, a novel switching strategy, mode dependent average dwell time (MDADT), is adopted to investigate the flight control of a morphing aircraft in its morphing phase. The switching signal used in this note is more general than the average dwell time (ADT), in which each mode has its own ADT. Under some simplified assumptions the control synthesis condition is formulated as a linear matrix optimization problem and a set of mode-dependent dynamic state feedback controllers are designed. Afterwards the proposed approach is applied to a morphing aircraft with a variable sweep wing to demonstrate its validity.

/pdf/switching-lpv-control-design-with-mdadt-and-its-application-4rg05wwbqc.pdf

Chunjuan Li

Papers

Robust control of morphing aircraft based on switched polytopic system

Switching LPV control design with MDADT and its application to a morphing aircraft