The area of research on probabilistic and randomized methods for analysis and design of uncertain systems is fairly recent and is focused both on algorithmic as well as theoretical developments. In this paper a framework for randomization-based control design is presented and applied to a mini-UAV platform. The proposed approach makes use of random search and uncertainty randomization for controller synthesis and probabilistic robustness analysis. Several structured uncertain parameters, related to the plant and to the operating conditions, are taken into account to design a robust flight control system. A selection criterion, based on estimated probability and its degradation function, is proposed in order to match stability and performance metrics fulfillment. Computational issues associated to the specific application, integration of a priori domain knowledge and human designer interaction with automated design are also addressed.
Randomization-based control design for mini-UAVs
Randomisierungs-basierter Regelungsentwurf für unbemannte Mini-Flugfahrzeuge
Control Engineering Practice ; 17 , 8 ; 974-983
2009
10 Seiten
Aufsatz (Zeitschrift)
Englisch
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