H∞ and robust QFT (quantitative feedback theory) control system design methods are used to design an altitude command tracker controller. The H∞ and the QFT controllers designed are compared. The effectiveness of each method through the analysis of the stability and performance of the controller to an uncertain aircraft is analysed. Both controllers have been compared in one of the most dangerous manoeuvre, the landing, where bad design can destroy the aircraft. It is shown that both controllers guarantee the robust stability and nominal performance requirements. Moreover, both designs attenuate high-frequency noise due to sensors supplying suitable control signals. Test experiences show that QFT design gives a smoother performance and a control effort slightly less than the one obtained with the H∞ controller. As it was expected, QFT leads to lower order controller (order 2) with comparable results to that obtained with H∞ (order 5). Experimental results during the landing phase shows the smoother performance mentioned above; however, the trajectory tracking is a little worse than corresponding to the H∞ design. This fact and the small vertical velocity points at H∞, design which is more adequate to be used during the landing. It is important to notice that the speed at which a QFT design can be performed is heavily influenced by the experience of the user, H∞ is less user dependent. Nevertheless, specialized software tools reduce the required skill and experience for loop-shaping in QFT. In this sense, the use of QFTIT makes easy the different stages of QFT. This free software tool allows designers change interactively the parameters involved in the design.
A fully autonomous unmanned aerial vehicle landing controller synthesis; quantitative feedback theory and H∞ technique comparison
Synthese einer Steuerung für die Landung eines völlig autonomen, unbemannten Luftfahrzeugs
2012
13 Seiten, 22 Bilder, 1 Tabelle, 19 Quellen
Aufsatz (Zeitschrift)
Englisch
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