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Robust Gain-Scheduled Control of a UAV Based on a Polytopic Model Approximation

[+] Author Affiliations
Juan A. Ramirez, Luis B. Gutierrez

Universidad Pontificia Bolivariana, Medellín, Colombia

Rafael E. Vasquez

University of Florida, Gainesville, FL

Paper No. IMECE2010-38437, pp. 91-99; 9 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


This work addresses the design of a robust H ∞ gain-scheduled controller for the Condor Andino UAV (Unmanned Aerial Vehicle). A polytopic approximation of the linearization family of the nonlinear model is used for the design. Because the linearization family in the operating region derives in a linear parameter varying (LPV) description with a nonlinear dependence of a set of parameters, a least squares approximation of the system matrices is used in order to obtain affine dependence. The polytopic description is obtained from the affine LPV model when the operating range is defined choosing the varying parameter inside a convex hull. The controller is synthesized using the Bounded Real Lemma in order to guarantee quadratic H ∞ performance over the operating region. The simulation results show that the designed controller can be successfully applied to the nonlinear system over the operating range.

Copyright © 2010 by ASME



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