LPV model reference control for fixed-wing UAVs

作     者：Rotondo D. Cristofaro A. Gryte K. Johansen T.A. 

作者机构：Center for Autonomous Marine Operations and Systems Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim 7491 Norway School of Science and Technology University of Camerino Camerino 62302 Italy 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2017年第50卷第1期

页      面：11559-11564页

主　　题：LPV systems Model reference control Unmanned aerial vehicles (UAVs) 

摘      要：This paper proposes a linear parameter varying (LPV) model reference-based control for fixed-wing unmanned aerial vehicles (UAVs), which achieves agile and high performance tracking objectives in extended flight envelopes, e.g. when near stall or deep stall flight conditions are considered. Each of the considered control loops (yaw, pitch and airspeed) delivers an error model that can be reshaped into a quasi-LPV form through an appropriate choice of the scheduling variables. The quasi-LPV error models are suitable for designing error feedback controllers using linear matrix inequalities (LMIs), which are derived within the quadratic Lyapunov framework. Simulation results are used to show the effectiveness of the proposed approach. © 2017