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Nonlinear H_infinity control of UAVs for collision avoidance in gusty environments

Yang, Xilin, Mejias, Luis, & Molloy, Timothy (2012) Nonlinear H_infinity control of UAVs for collision avoidance in gusty environments. Journal of Intelligent and Robotic Systems.

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    Abstract

    This paper proposes a nonlinear H_infinity controller for stabilization of velocities, attitudes and angular rates of a fixed-wing unmanned aerial vehicle (UAV) in a windy environment. The suggested controller aims to achieve a steady-state flight condition in the presence of wind gusts such that the host UAV can be maneuvered to avoid collision with other UAVs during cruise flight with safety guarantees. This paper begins with building a proper model capturing flight aerodynamics of UAVs. Then a nonlinear controller is developed with gust attenuation and rapid response properties. Simulations are conducted for the Shadow UAV to verify performance of the proposed con- troller. Comparative studies with the proportional-integral-derivative (PID) controllers demonstrate that the proposed controller exhibits great performance improvement in a gusty environment, making it suitable for integration into the design of flight control systems for cruise flight of UAVs.

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    ID Code: 53393
    Item Type: Journal Article
    Additional Information: Springer Online First publication
    Keywords: UAV, H-infinity control, gust attenuation, PID control
    DOI: 10.1007/s10846-012-9753-y
    ISSN: 1573-0409
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
    Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
    Current > Schools > School of Electrical Engineering & Computer Science
    Copyright Owner: Copyright 2012 Springer
    Copyright Statement: The original publication is available at SpringerLink http://www.springerlink.com
    Deposited On: 30 Aug 2012 12:59
    Last Modified: 01 Sep 2012 10:25

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