ROBUST CONTROLLER DESIGN OF A COMPLETE MISSION FOR A UAV M. Sadraey1, R.

Colgren2 The University of Kansas Lawrence, Kansas, 66045

Abstract: The challenges of coping with nonlinear dynamics, uncertain models, and varying flight performance requirements, will be prevailing factors when designing autopilots for nextgeneration UAVs. Autopilots are designed using robust control techniques that are capable of covering a significant fraction of the flight envelope. Nevertheless, one single robust controller will most likely not suffice to satisfy all performance and robustness requirements throughout the flight envelope. In this paper, a full envelope autopilot for a UAV is designed using H loop shaping. The applicability of linear robust control techniques to an uncertain system in the presence of disturbance and noise is illustrated in realistic environments providing a challenging example of a UAV on a complete mission. The simulation of the UAV flight over a complete mission is performed with uncertainties in derivatives, the mass, and cg. A sequence of longitudinal and lateral-directional commands, along with the realistic flight scenario, is evaluated in a detailed linear coupled six-degree-of-freedom simulation. The results illustrate the applicability of the selected approach.

Keywords: Robust Control, UAV, Nonlinear Dynamics, Uncertainty

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PhD Candidate Associate Professor