A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 2 Issue 2
Apr.  2015

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77, TOP 5
Turn off MathJax
Article Contents
Zhaolei Wang, Qing Wang and Chaoyang Dong, "Asynchronous H∞ Control for Unmanned Aerial Vehicles: Switched Polytopic System Approach," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 2, pp. 207-216, 2015.
Citation: Zhaolei Wang, Qing Wang and Chaoyang Dong, "Asynchronous H∞ Control for Unmanned Aerial Vehicles: Switched Polytopic System Approach," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 2, pp. 207-216, 2015.

Asynchronous H Control for Unmanned Aerial Vehicles: Switched Polytopic System Approach

Funds:

This work was supported by National Natural Science Foundation of China (61273083, 61074027).

  • This study is concerned with the H control for the full-envelope unmanned aerial vehicles (UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then, considering updating lags of controller's switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H controller are derived in the form of linear matrix inequality (LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method. Finally, a numerical example based on a highly maneuverable technology (HiMAT) vehicle is given to verify the validity of the proposed method.

     

  • loading
  • [1]
    Dierks T, Jagannathan S. Output feedback control of a quadrotor UAV using neural networks. IEEE Transactions on Neural Networks, 2010, 21(1):50-66
    [2]
    Beard R W, McLain T W, Goodrich M A, Anderson, E P. Coordinated target assignment and intercept for unmanned air vehicles. IEEE Transactions on Robotics and Automation, 2002, 18(6):911-922
    [3]
    He Y Q, Han J D. Acceleration feedback enhanced H disturbance attenuation control for a class of nonlinear underactuated vehicle systems. Acta Automatica Sinica, 2008, 34(5):558-564
    [4]
    Azinheira J R, Moutinho A. Hover control of an UAV with backstepping design including input saturations. IEEE Transactions on Control Systems Technology, 2008, 16(3):517-526
    [5]
    Sieberling S, Chu Q P, Mulder J A. Robust flight control using incremental nonlinear dynamic inversion and angular acceleration prediction. Journal of Guidance, Control, and Dynamics, 2010, 33(4):1732-1742
    [6]
    Yang K, Shin J, Sukkarieh S. Integrated planning and control of rotary-wing unmanned aerial vehicle navigation. Journal of Aerospace Computing, Information, and Communication, 2012, 9(3):81-91
    [7]
    Hu X X, Wu L G, Hu C H, Gao H J. Adaptive sliding mode tracking control for a flexible air-breathing hypersonic vehicle. Journal of the Franklin Institute, 2012, 349(2):559-577
    [8]
    Orqueda O A A, Zhang X T, Fierro R. An output feedback nonlinear decentralized controller for unmanned vehicle coordination. International Journal of Robust and Nonlinear Control, 2007, 17(9):1106-1128
    [9]
    Rugh W J, Shamma J S. Research on gain scheduling. Automatica, 2000, 36(7):1401-1425
    [10]
    Leith D J, Leithead W E. Survey of gain-scheduling analysis and design. International Journal of Control, 2000, 73(8):1001-1025
    [11]
    Ginter V J, Pieper J K. Robust gain scheduled control of a hydrokinetic turbine. IEEE Transactions on Control Systems Technology, 2011, 19(4):805-817
    [12]
    Saussié D, Saydy L, Akhrif O, Bérard C. Gain scheduling with guardian maps for longitudinal flight control. Journal of Guidance, Control, and Dynamics, 2011, 34(4):1045-1059
    [13]
    Huang Y Q, Sun C Y, Qian C S, Zhang J M, Wang L. Polytopic LPV modeling and gain-scheduled switching control for a flexible air-breathing hypersonic vehicle. Journal of Systems Engineering and Electronics, 2013, 24(1):118-127
    [14]
    Sunan C. Robust Gain-scheduled H Control for Unmanned Aerial Vehicles[Ph. D. dissertation], Cranfield University, England, 2010.
    [15]
    Natesan K, Gu D W, Postlethwaite I. Design of static H linear parameter varying controllers for unmanned aircraft. Journal of Guidance, Control, and Dynamics, 2007, 30(4):1829-1835
    [16]
    Huang Y Q, Sun C Y, Qian C S, Wang L. Non-fragile switching tracking control for a flexible air-breathing hypersonic vehicle based on polytopic LPV model. Chinese Journal of Aeronautics, 2013, 26(2):948-959
    [17]
    Lu Q, Zhang L, Shi P, Karimi H R. Control design for a hypersonic aircraft using a switched linear parameter-varying system approach. Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering, 2013, 227(1):85-95
    [18]
    Hespanha J P, Morse A S. Stability of switched systems with average dwell-Time. In:Proceedings of the 38th Conference on Decision and Control. New York, USA:IEEE, 1999. 2655-2660
    [19]
    Hou Y Z, Dong C Y, Wang Q. Stability analysis of switched linear systems with locally overlapped switching law. Journal of Guidance, Control, and Dynamics, 2010, 33(2):396-403
    [20]
    Zhao X, Zhang L, Shi P, Liu M. Stability of switched positive linear systems with average dwell time switching. Automatica, 2012, 48(4):1132-1137
    [21]
    Zhang L, Wang C, Chen L. Stability and stabilization of a class of multimode linear discrete-time systems with polytopic uncertainties. IEEE Transactions on Industrial Electronics, 2009, 56(9):3684-3692
    [22]
    Wang R, Shi P, Wu Z G, Sun Y T. Stabilization of switched delay systems with polytopic uncertainties under asynchronous switching. Journal of the Franklin Institute, 2013, 350(8):2028-2043
    [23]
    Hou Y, Wang Q, Dong C. Gain scheduled control:switched polytopic system approach. Journal of Guidance, Control, and Dynamics, 2011, 34(2):623-629
    [24]
    Wang H, Ju H H, Yang G H. Fault detection filter design for linear polytopic uncertain continuous-time systems. Acta Automatica Sinica, 2010, 36(5):742-750
    [25]
    Xiang W M, Xiao J. H controller design for a class of switched linear discrete-time system with polytopic uncertainties. Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering, 2012, 226(7):1311-1322
    [26]
    Zhang L X, Shi P, Boukas E K, Wang C H. H control of switched linear discrete-time systems with polytopic uncertainties. Optimal Control Applications and Methods, 2006, 27(3):273-291
    [27]
    Gao H, Chen T, Wang L. Robust fault detection with missing measurements. International Journal of Control, 2008, 81(3):804-819
    [28]
    Wang Z D, Shen B, Liu X H. H filtering with randomly occurring sensor saturations and missing measurements. Automatica, 2012, 48(3):556-562
    [29]
    Long Y, Yang G H. Fault detection in finite frequency domain for networked control systems with missing measurements. Journal of the Franklin Institute, 2013, 350(9):2605-2626
    [30]
    Liu F Q, Huang J, Shi Y, Xu D M. Fault detection for discretetime systems with randomly occurring nonlinearity and data missing:a quadrotor vehicle example. Journal of the Franklin Institute, 2013, 350(9):2474-2493
    [31]
    Xu L, Wang Q, Li W, Hou Y. Stability analysis and stabilisation of fullenvelope networked flight control systems:switched system approach. IET Control Theory Applications, 2012, 6(2):286-296
    [32]
    Zhang L X, Gao H J. Asynchronously switched control of switched linear systems with average dwell time. Automatica, 2010, 46(3):953-958
    [33]
    Zhang L X, Shi P. Stability, l2-gain and asynchronous H control of discrete-time switched systems with average dwell time. IEEE Transactions on Automatic Control, 2009, 54(9):2193-2200
    [34]
    Hartmann G L, Barrett M F, Greene C S. Control Design for an Unstable Vehicle, Technical Report CR-170393, NASA, USA, 1979.
    [35]
    Safonov M G, Laub A J, Hartmann G L. Feedback properties of multivariable systems:the role and use of the return difference matrix. IEEE Transactions on Automatic Control, 1981, 26(1):47-65
    [36]
    Zhang L, Boukas E K, Shi P. Exponential H filtering for uncertain discrete-time switched linear systems with average dwell time:a μ-dependent approach. International Journal of Robust and Nonlinear Control, 2008, 18(11):1188-1207
    [37]
    ChatterJee D, Liberzon D. Stability analysis of deterministic and stochastic switched systems via a comparison principle and multiple Lyapunov functions. SIAM Journal on Control and Optimization, 2006, 45(1):174-206
    [38]
    Daafouz J, Bernussou J. Parameter dependent Lyapunov functions for discrete time systems with time varying parametric uncertainties. Systems and Control Letters, 2001, 43(3):355-359

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views (1102) PDF downloads(17) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return