Research Of Unmanned Aerial Vehicle (UAV) Side Force Control Law Design

Direct Side Force Control (DSFC) comes into being with the appearance of ACT (Active Control Technology). Through maneuvering the vertical canard to produce side force, people can control a aircraft easily .So the trajectory of a Vehicle can be controlled precisely, and it's maneuverability is greatly improved.In this paper, three motion modes of DFSC are analyzed in details. According to the dynamic characteristic of small scale UAV (unmanned aerial vehicle), three different control methodologies are presented.First, robust eigenstructure assignment, eigenstructure assignment is an effective method for output decoupling of MIMO system. Here, we first design an objective function in term of desired location of close-loop eigensvalues, achievable structure of close-loop eigenvectors and the unstructured time-varying parameter perturbations in system matrix. With the minimization of the objective function, an optimization output feedback gain F is sought.Second, a new method combining inversion dynamics and H∞ control is discussed.Inversion Dynamics is an effective technique to decouple system through output feeedback which is very important in the design of Unmanned Aerial Vehicle (AUV) side force Control (DSFC) law. But precise UAV model is difficult to obtain. The passage presents a new controller structure for developing robust control law that is integrating H r with Inversion Dynamics. Using this method, the controller design for performance and robustness can be designed separately, which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework.Third, to make the vehicle meet the performance index in full flight envelop, a H∞gain-scheduled controller based on Linear Varying Parameter (LPV) system are designed. A LPV plant with a linear fractional dependent variable can be represented by upper LFT (Linear Fractional Transformation) interconnection. With this technique, the overall control problem can be transformed to a traditional robust control problem, and the ultimate results are given by solving a series of Linear Matrix Inequalities (LMIs). The computer simulation proves that this methodology is more effective than traditional gain scheduled method.