Design of Robust Controllers for UAV Helicopters Using Quantitative Feedback Theory

摘要

This paper presents the research being done at Cal Poly Pomona on the design of robust controllers for unmanned aerial vehicles (UAVs) using Quantitative Feedback Theory (QFT). These controllers help achieve a given set of stability and performance criteria over a specific range of parameter uncertainty. Currently, the controllers are being designed for the R-MAX helicopter. Also, the controllers will be designed to work in the presence of disturbance such as that of gust and measurement noise. The overall objective of this research is to use QFT to increase the robustness of UAV formation flight by designing robust controllers for the maintenance of position and orientation of vehicles in the formation.