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Robust control of the micro UAV dynamics with an autopilot

Mystkowski A.

Journal of Theoretical and Applied Mechanics

2013

Vol. 51 nr 3

751--761

This paper presents a nonlinear robust control design procedure for a micro air vehicle, which uses the singular value (μ) and μ-synthesis technique. The optimal robust control law that combines parametric and lumped uncertainties of the micro UAV (unmanned aerial vehicle) which are realized by serial connection of the Kestrel autopilot and the Gumstix microprocessor. Thus, the robust control feedback loops, which handle the uncertainty of aerodynamics derivatives, are used to ensure the robust stability of the UAV local Dynamics in longitudinal and lateral control directions.

Rationale for mu-synthesis control of flexible rotor-magnetic bearing systems

Sawicki J. T.

Acta Mechanica et Automatica

2008

Vol. 2, no. 2

67-74

The emergence of sophisticated formal control synthesis tools provokes important questions for any prospective user: why learn to use these new tools, what will they offer me? In synthesis of magnetic bearing controllers, it turns out that the range of stabilizing controllers is often quite narrow so that the difference between a poor controller and an “optimal” one may be small. Hence, the product of formal control synthesis tools often looks and performs much like what a reasonably clever control engineer would produce by hand. This paper demonstrates that the real value of these tools lies in a) generation of a performance benchmark which can be used to firmly establish the best performance relative to a specification and b) change of design parameter space to one which is relatively easy to maintain and represents a durable investment from an engineering process view.