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Volume 2 Issue 2
Apr.  2015

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2015  >  2(2): 207-216
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.
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Asynchronous H∞ Control for Unmanned Aerial Vehicles: Switched Polytopic System Approach

  • 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;

  • 2. Beijing Aerospace Automatic Control Institute, Beijing 100854, China;

  • 3. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;

  • 4. School of Aeronautical Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

Funds:

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

    Abstract
  • 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.

     

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