Design of linear parameter varying trajectory tracking controllers for an unmanned air vehicle

摘要

This article presents a trajectory tracking controller design approach for an unmanned air vehicle using the linear parameter varying (LPV) methods. The longitudinal and lateral controllers are designed using an inner–outer loop structure with the inner loop LPV controller designed first using μ-synthesis. The inner loop is then approximated with a reference model and the outer loop is designed using loop-shaping techniques. Flight trajectory is expressed in terms of earth co-ordinates, which the outer loop controller converts into reference signals for the inner loop. Full-scale non-linear simulations are used to test the efficiency of the designed controller and of the proposed design approach.