Adaptive LQ Control With Anti-Windup Augmentation to Optimize UAV Performance in Autonomous Soaring Applications
| Autor: | Kahveci, N. E., Ioannou, Petros A., Mirmirani, M. D. |
|---|---|
| Přispěvatelé: | Ioannou, Petros A. [0000-0001-6981-0704] |
| Rok vydání: | 2008 |
| Předmět: |
Anti-windup compensator
Engineering Observability Adaptive control Static soaring Linear matrix inequalities Linear matrix inequality (LMI) Saturation (materials composition) Glide ratio Control theory Unknown parameters Disturbance rejection Military data processing Nonlinear control systems Uncertain systems Eigenvalues and eigenfunctions Linear control systems Dynamics Linear quadratic control (LQC) Unmanned aerial vehicle (UAV) Trajectory Robust adaptive control Robust control Optimization Parametric uncertainties Tokamak devices Linear quadratic (LQ) control Matrix algebra Vehicle dynamics Anti-windup design Environmental conditioning Electrical and Electronic Engineering Nonlinearity (including bifurcation theory) Glider dynamics Anti-windup augmentation business.industry Control surfaces Linear matrix inequality Glider Control engineering Flight control surfaces Adaptive control systems Actuator saturation nonlinearities Linear matrices Gliders Control and Systems Engineering Actuator saturations business Actuator Actuators |
| Zdroj: | IEEE Transactions on Control Systems Technology IEEE Trans.Control Syst.Technol. |
| ISSN: | 1558-0865 1063-6536 |
| DOI: | 10.1109/tcst.2007.908207 |
| Popis: | The performance of a glider can be considerably improved by means of soaring and optimization of its trajectory. Recent advances in the area of static soaring assume known linear glider dynamics and no actuator saturation phenomena. In practice, the dynamics of the glider change with flight and environmental conditions, and the actuators moving the control surfaces have mechanical limits. In this paper, we consider the optimization-based static soaring problem in the presence of actuator saturation nonlinearities and large parametric uncertainties in the dynamics of the vehicle. We use ideas from robust adaptive control and anti-windup design tools to develop an adaptive control scheme based on linear quadratic control with disturbance rejection. The saturation-type nonlinearity is addressed by the proposed adaptive version of a linear matrix inequality based anti-windup design. The resulting adaptive control scheme with adaptive anti-windup augmentation allows optimal soaring despite the presence of significant actuator saturation limits and unknown parameters. © 2008 IEEE. 16 4 691 707 Cited By :46 |
| Databáze: | OpenAIRE |
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