Design of a Robust Lpv Con Trol

This paper applies LPV(Linear Parameter Varying) control techniques to a blimp. The aim of the project is the development of a practical technique for the unmanned aerial observation and surveillance. In order for a blimp to perform observation and detection, precise flight path control is needed. The error resulting from modeling a real system cannot be avoided, however accurate the model is. In order to aim for realistic control, robust control can compensate model uncertainty. Based on past works, the author developed a robust lateraldirectional stability augmentation system in the framework of the H∞ theory that could take account of the uncertain ranges of parameters, and successfully implemented it on the blimp. A problem exits, however, that the designed control system guarantees its effectiveness for only one design speed, although in a practical situation the flight-speed may vary within a certain operation range. Therefore, this paper is aimed at designing the lateral-directional flight control system that guarantees a certain degree of stability over all the operation range. It is shown that the resulting LPV robust controller yields a better performance than the corresponding H∞ controller.