Multi-range controller design for highly nonlinear systems with application to unmanned aerial vehicles

摘要

A new procedure for a design of multi-range controllers for use with highly nonlinear systems is developed. The procedure involves obtaining the describing function models of the nonlinear plant by software followed by designing a controller at nominal conditions. Then, the controller parameters are optimized to yield a satisfactory closed-loop response at all operating regimes. Finally, the performance and stability of the closed-loop system comprised of the designed controller and the nonlinear plant are verified. The procedure and the associated software are applied to a nonlinear control problem of the sort encountered in aerospace, and the results are compared with two other approaches.