Hegde, N T and George, V I and Nayak, Gurudas C (2018) Design of H-Infinity Loop Shaping Controller for an Unmanned Aerial Vehicle. Journal of Advanced Research in Dynamical and Control Systems, 10 (03). pp. 65-74. ISSN 1943-023X

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Abstract

In this paper, an optimized robust H-infinity loop shaping controller for an unmanned aerial vehicle (UAV) is presented. UAV refers to the aircrafts which can be operated with no human intervention. The nonlinear mathematical dynamic model of Six Degrees of Freedom (DOF) of a UAV is linearized about the flight conditions. Inputs and outputs of a UAV physical system can be represented using state-space model. Aerial vehicle is inherently dynamically unstable. The proposed H-infinity loop shaping controller addresses the stability and performance problem of UAV under external wind and aerodynamic disturbances. The simulation results presented here indicates that the designed controller is robust in presence of uncertainties. The development of self-guided and fully autonomous UAVs would result in minimizing the risks to human life. Civil applications include inspection of rescue teams, terrain, coasts, border patrol buildings, police, and pipelines.

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