Structural Robust Gain-Scheduled PID Control and Application on a Morphing Wing UAV
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- 英文论文题名：Structural Robust Gain-Scheduled PID Control and Application on a Morphing Wing UAV
- 论文作者：Pengyuan Shao ; Zhou Zhou ; Songhui Ma ; Lina Bin
- 英文论文作者：Pengyuan Shao ; Zhou Zhou ; Songhui Ma ; Lina Bin ; Northwestern Polytechnical University ; Shenzhen Key Laboratory of Micro-bionic UAV Design ; Shenzhen Research Institute of NWPU ; Shenzhen Beyond Global Technology CO. ; Ltd.
- 年：2017
- 作者机构：Northwestern Polytechnical University;Shenzhen Key Laboratory of Micro-bionic UAV Design,Shenzhen Research Institute of NWPU;Shenzhen Beyond Global Technology CO.,Ltd.;
- 英文论文关键词：robust control ; Unmanned Aerial Vehicle(UAV) ; PID control ; Gain-Scheduled ; Linear Parameter Varying(LPV) system
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：V249.1;V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：648k
- 原文格式：D
- 会议级别：全国
摘要
Further research based on the author's past work in [1] is performed in this paper. A structural robust gain-scheduled(GS) PID control method is proposed and applied to control the pitch angle for a morphing wing UAV(MUAV) in its transient process. Firstly, the author gives the robust static output feedback(SOF) control method for LPV system and shows that PID control is equivalent to SOF control, thus the robust GS PID control design is derived via SOF. Secondly, the author introduces a structural matrix to structuralize the robust GS PID control, then a structural robust GS PI(D) control design method is derived. The controller is in the same form of PID controller used in practice, which has a more simple structure than the result in [10] and other existing results. At last, the proposed method is applied to control the pitch angle of a MUAV based on a LPV model developed by a Jacobian Linearization method. Linear analysis and nonlinear Monte-Carlo simulation were performed and the results showed that the proposed solution were applicable with satisfactory robustness and performance.
Further research based on the author's past work in [1] is performed in this paper. A structural robust gain-scheduled(GS) PID control method is proposed and applied to control the pitch angle for a morphing wing UAV(MUAV) in its transient process. Firstly, the author gives the robust static output feedback(SOF) control method for LPV system and shows that PID control is equivalent to SOF control, thus the robust GS PID control design is derived via SOF. Secondly, the author introduces a structural matrix to structuralize the robust GS PID control, then a structural robust GS PI(D) control design method is derived. The controller is in the same form of PID controller used in practice, which has a more simple structure than the result in [10] and other existing results. At last, the proposed method is applied to control the pitch angle of a MUAV based on a LPV model developed by a Jacobian Linearization method. Linear analysis and nonlinear Monte-Carlo simulation were performed and the results showed that the proposed solution were applicable with satisfactory robustness and performance.
Further research based on the author's past work in [1] is performed in this paper. A structural robust gain-scheduled(GS) PID control method is proposed and applied to control the pitch angle for a morphing wing UAV(MUAV) in its transient process. Firstly, the author gives the robust static output feedback(SOF) control method for LPV system and shows that PID control is equivalent to SOF control, thus the robust GS PID control design is derived via SOF. Secondly, the author introduces a structural matrix to structuralize the robust GS PID control, then a structural robust GS PI(D) control design method is derived. The controller is in the same form of PID controller used in practice, which has a more simple structure than the result in [10] and other existing results. At last, the proposed method is applied to control the pitch angle of a MUAV based on a LPV model developed by a Jacobian Linearization method. Linear analysis and nonlinear Monte-Carlo simulation were performed and the results showed that the proposed solution were applicable with satisfactory robustness and performance.
引文
[1]Wu C,Shao P,Ma S.An effective design of LPV based robust gain-scheduling controller for Morphing-Wing UAV.Control Conference(CCC),2013 32nd Chinese.IEEE,2013:2655-2660.
[2]Yang G T,Tang S J,Guo J.Aerodynamic optimization of a morphing UAV with variable sweep and variable span.International Conference on Computer Science and Systems Engineering.2015.
[3]Ajaj R M,Flores E I S,Friswell M I,et al.An integrated conceptual design study using span morphing technology.Journal of Intelligent Material Systems&Structures,2014,25:989-1008.
[4]Gao L,Zhao J,Zhu Y,et al.Application of cycle variable pitch propeller to morphing unmanned aerial vehicles.IEEEInternational Conference on Information and Automation.2015:2493-2498.
[5]Meguid S A,Su Y,Wang Y.Complete morphing wing design using flexible-rib system.International Journal of Mechanics&Materials in Design,2015:1-13.
[6]Bergstein J.Development of Next Generation Morphing Aircraft Structures.Aiaa/asme/asce/ahs/asc Structures,Structural Dynamics,and Materials Conference.2007:359-392.
[7]Prabhakar N,Prazenica R J,Gudmundsson S.Dynamic analysis of a variable-span,variable-sweep morphing UAV.Aerospace Conference.IEEE,2015:1-12.
[8]Prabhakar N,Prazenica R J,Gudmundsson S,et al.Transient Dynamic Analysis and Control of a Morphing UAV.AIAAGuidance,Navigation,and Control Conference.2016.
[9]Shamma J S.An Overview of LPV Systems.2012:3-26.
[10]Ting Yue,Lixin Wang,Junqiang Ai,Gain selfcontrol for morphing aircraft in the wing transition process based on an LPV model,Chinese Journal of Aeronautics,26(4),2013:909-917.
[11]UAV under the gust condition[J].Wit Transactions on Information&Communication Technologies,2014,56:223-232.
[12]Zhang J.Robust controller design for a morphing aircraft based on SRAD[J].2014:473-478.
[13]He Y,Zhang W,Zhang Y,et al.Robust control of morphing aircraft based on switched polytopic system.IEEEInternational Conference on Cyber Technology in Automation,Control,and Intelligent Systems.IEEE,2015:1645-1649.
[14]VeselyV,Ilka A.Robust Gain-Scheduled PID Controller Design For Uncertain LPV Systems.Journal of Electrical Engineering,2015,66(1):19-25.
[15]Zhou K,Doyle J C,Glover K.Robust and optimal control.New Jersey:Prentice Hall,1996.
[16]Papageorgiou G,Glover K,D'Mello G,et al.Development of a'reliable'LPV model for the longitudinal dynamics of DERA's VAAC Harrier.AIAA Guidance,Navigation,and Control Conference and Exhibit.2013.
[17]Gary J.Balas,John C.Doyle,Keith Glover and etc.-Analysis and Synthesis Toolbox User Guide.The Math Works Inc and MUSYN Inc,2001.
[2]Yang G T,Tang S J,Guo J.Aerodynamic optimization of a morphing UAV with variable sweep and variable span.International Conference on Computer Science and Systems Engineering.2015.
[3]Ajaj R M,Flores E I S,Friswell M I,et al.An integrated conceptual design study using span morphing technology.Journal of Intelligent Material Systems&Structures,2014,25:989-1008.
[4]Gao L,Zhao J,Zhu Y,et al.Application of cycle variable pitch propeller to morphing unmanned aerial vehicles.IEEEInternational Conference on Information and Automation.2015:2493-2498.
[5]Meguid S A,Su Y,Wang Y.Complete morphing wing design using flexible-rib system.International Journal of Mechanics&Materials in Design,2015:1-13.
[6]Bergstein J.Development of Next Generation Morphing Aircraft Structures.Aiaa/asme/asce/ahs/asc Structures,Structural Dynamics,and Materials Conference.2007:359-392.
[7]Prabhakar N,Prazenica R J,Gudmundsson S.Dynamic analysis of a variable-span,variable-sweep morphing UAV.Aerospace Conference.IEEE,2015:1-12.
[8]Prabhakar N,Prazenica R J,Gudmundsson S,et al.Transient Dynamic Analysis and Control of a Morphing UAV.AIAAGuidance,Navigation,and Control Conference.2016.
[9]Shamma J S.An Overview of LPV Systems.2012:3-26.
[10]Ting Yue,Lixin Wang,Junqiang Ai,Gain selfcontrol for morphing aircraft in the wing transition process based on an LPV model,Chinese Journal of Aeronautics,26(4),2013:909-917.
[11]UAV under the gust condition[J].Wit Transactions on Information&Communication Technologies,2014,56:223-232.
[12]Zhang J.Robust controller design for a morphing aircraft based on SRAD[J].2014:473-478.
[13]He Y,Zhang W,Zhang Y,et al.Robust control of morphing aircraft based on switched polytopic system.IEEEInternational Conference on Cyber Technology in Automation,Control,and Intelligent Systems.IEEE,2015:1645-1649.
[14]VeselyV,Ilka A.Robust Gain-Scheduled PID Controller Design For Uncertain LPV Systems.Journal of Electrical Engineering,2015,66(1):19-25.
[15]Zhou K,Doyle J C,Glover K.Robust and optimal control.New Jersey:Prentice Hall,1996.
[16]Papageorgiou G,Glover K,D'Mello G,et al.Development of a'reliable'LPV model for the longitudinal dynamics of DERA's VAAC Harrier.AIAA Guidance,Navigation,and Control Conference and Exhibit.2013.
[17]Gary J.Balas,John C.Doyle,Keith Glover and etc.-Analysis and Synthesis Toolbox User Guide.The Math Works Inc and MUSYN Inc,2001.