Application of Unfalsified Control Theory in Controlling MAV

Abstract:

Controlling the flight of Micro Aerial Vehicles (MAV) is a highly challenging task, mostly due to nonlinearity of their models and highly varying longitudinal and lateral derivatives coefficients [. As such, it requires a proper form of robust control. The demand for such control is very high, as it is required in many applications. The following paper presents the application of Unfalsified Control Theory developed by Michael G. Safonov [1, 2, 6, . This interesting approach is based on the adaptive switching control, and does not require any previous knowledge of the controlled plant. The controlled dynamics is decoupled due to longitudinal and lateral motion of the Bell 540 single-delta wing micro aerial vehicle. The work involves design and simulation of the proper robust controller. The simulation is based on already obtained nominal model of the Bell 540 vehicle [. The developed controllers were proved to be efficient, based on performed calculations and simulation in Matlab.

• Periodical: Solid State Phenomena (Volume 198)
• Pages: 171-175
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.198.171
• Online since: March 2013
• Authors: Adam Wolniakowski, Arkadiusz Mystkowski
• Keywords: Lateral Dynamics, Longitudinal Dynamics, Micro Aerial Vehicle, Robust Unfalsified Control

References

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[2] M. G. Safonov, T. C. Tsao, The Unfalsified control concept and learning. IEEE Trans. Autom. Control, AC-42 (6), pp.843-847, June (1997).

DOI: 10.1109/9.587340

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[7] Shin-Young Cheong; Safonov, M.G.; Slow-Fast Controller Decomposition Bumpless Transfer for Adaptive Switching Control, Automatic Control, IEEE Transactions on , vol. 57, no. 3, pp.721-726.

DOI: 10.1109/tac.2011.2168911

[8] G. Battistelli, J. Hespanha, E. Mosca and P. Tesi. Model-Free Adaptive Switching Control of Uncertain Time-Varying Plants, Proc. IFAC World Congress, Milan, Italy, volume=18 (Part 1), pp.1273-1278.

DOI: 10.3182/20110828-6-it-1002.01536