Robust adaptive control with reduced conservatism for a convertible UAV
| dc.creator | Jonatan M. Campos | |
| dc.creator | Daniel Neri Cardoso | |
| dc.creator | Guilherme Vianna Raffo | |
| dc.date.accessioned | 2025-06-03T14:19:34Z | |
| dc.date.accessioned | 2025-09-08T23:27:22Z | |
| dc.date.available | 2025-06-03T14:19:34Z | |
| dc.date.issued | 2023 | |
| dc.identifier.doi | https://doi.org/10.1016/j.ifacol.2023.10.945 | |
| dc.identifier.uri | https://hdl.handle.net/1843/82737 | |
| dc.language | eng | |
| dc.publisher | Universidade Federal de Minas Gerais | |
| dc.relation.ispartof | 22nd IFAC World Congress | |
| dc.rights | Acesso Restrito | |
| dc.subject | Aeronave não tripulada | |
| dc.subject.other | Robust adaptive control, Convertible UAV, Linear mixed H2/H-infinity control | |
| dc.subject.other | Tp model transformation as a way to lmi-based controller design | |
| dc.subject.other | Modeling and Robust Control for Full-Flight Envelope Trajectory Tracking of a QuadCP-VTOL Unmanned Aerial Vehicle | |
| dc.subject.other | A robust optimal control approach in the weighted sobolev space for underactuated mechanical systems | |
| dc.title | Robust adaptive control with reduced conservatism for a convertible UAV | |
| dc.type | Artigo de evento | |
| local.citation.epage | 7 | |
| local.citation.spage | 1 | |
| local.description.resumo | This work proposes a robust adaptive mixing controller to achieve trajectory tracking throughout the full-flight envelope, with ensured stability, of a quad-tiltorotor convertible plane (CP) vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), here called QuadCP-VTOL UAV. Accordingly, a nonlinear multi-body dynamic model is obtained using the Euler-Lagrange formalism, from which a linear parameter-varying (LPV) model is derived to describe the dynamics of the QuadCP-VTOL UAV within its flight envelope. The set containing the UAV's flight envelope is partitioned into subsets and, for each subset, a less conservative formulation of the linear robust mixed H2/H∞ candidate controller is proposed. An adaptive mixing scheme is employed to perform a convex combination of the candidate controllers within the subsets intersection. Results of Hardware-In-the-Loop (HIL) experiments are presented to corroborate the efficacy of the proposed control strategy. | |
| local.publisher.country | Brasil | |
| local.publisher.department | ENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA | |
| local.publisher.department | ENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA | |
| local.publisher.initials | UFMG | |
| local.url.externa | https://www.sciencedirect.com/science/article/pii/S2405896323013289 |
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