H Infinity Controller for Unmanned Aerial Vehicle Against Atmospheric Turbulence
نویسندگان
چکیده
Unmanned aerial vehicle experience different atmospheric uncertainties during their flight. These uncertainties caused the problem in the stability and the desired performance of the system. This research paper structured to nullify the influence of atmospheric turbulence and ground effect on the UAV. The models of Dryden turbulence is used as it is one of the major disturbances affecting the UAV and then H8 controller is computed using genetic algorithm to remove these uncertainties in the plant. This research managed to design controller so that it can meet both robustness and stability requirement. The designed methodology used several state points to validate the robustness of H8 controller. To investigate the performance of H8 and optimal controller LQR, the UAV plant model is simulated in Mat lab with the unknown atmospheric turbulence. The simulation results shows that robust H infinity control have achieved good transient and steady state performance than LQR optimal control against atmospheric turbulences.
منابع مشابه
Biologically Inspired Flight Techniques for Small and Micro Unmanned Aerial Vehicles
This paper discusses energy extraction from atmospheric turbulence by smalland microuninhabited aerial vehicles. A controller which superimposes a gust-dependent control input on a state-feedback derived control input is proposed, and a genetic algorithm is used to obtain control gains as well as the optimal nominal trim state is described. Control laws are designed for both vertical sinusoidal...
متن کاملRobust Trajectory Tracking Controller for Vision Based Probe and Drogue Autonomous Aerial Refueling
This paper addresses autonomous aerial refueling between an unmanned tanker aircraft and an unmanned receiver aircraft using the probe-and-drogue method. An important consideration is the ability to achieve successful docking in the presence of exogenous inputs such as atmospheric turbulence. Practical probe and drogue autonomous aerial refueling requires a reliable sensor capable of providing ...
متن کاملTrajectory Tracking Controller for Vision-Based Probe and Drogue Autonomous Aerial Refueling
Practical autonomous aerial refueling between unmanned tanker and receiver aircraft using the probe-anddrogue method requires a reliable relative position sensor integrated with a robust relative navigation and control algorithm. The system must provide successful docking in the presence of disturbances caused by both the tanker wake vortex and atmospheric turbulence. This paper develops a refe...
متن کاملTurbulence Effects on Modified State Observer-Based Adaptive Control: Black Kite Micro Aerial Vehicle
This paper presents the implementation of a modified state observer-based adaptive dynamic inverse controller for the Black Kite micro aerial vehicle. The pitch and velocity adaptations are computed by the modified state observer in the presence of turbulence to simulate atmospheric conditions. This state observer uses the estimation error to generate the adaptations and, hence, is more robust ...
متن کاملDigital Autoland Control Laws Using Direct Digital Design and Quantitative Feedback Theory
Manually landing an unmanned aerial vehicle presents unique challenges since unmanned vehicle pilots require extensive training to become proficient in the landing task. Operators must therefore choose between a pilot controlling the vehicle from a ground station, or procurement of an automatic landing system. Although several autoland controllers exist for small or micro unmanned vehicles and ...
متن کامل