A robust adaptive control design for gliders subject to actuator saturation nonlinearities
Date
2007ISBN
1-4244-0988-8978-1-4244-0988-4
Source
Proceedings of the American Control Conference2007 American Control Conference, ACC
Pages
492-497Google Scholar check
Keyword(s):
Metadata
Show full item recordAbstract
Range, endurance and cross-country speed of a glider can be considerably improved by efficient soaring methods. Recent static soaring research assumes known linear glider dynamics which do not change with flight conditions, and the mechanical limits such as actuator saturation nonlinearities are simply ignored. In this paper we allow large parametric uncertainties in the dynamics of the glider as well as actuator saturation limits. We propose a robust adaptive Linear Quadratic (LQ) control design with an adaptive anti-windup compensator to handle both the unknown time varying parameters and the saturation nonlinearities. We demonstrate that the glider tracks the optimal soaring trajectory generated by our decision algorithm despite the parametric uncertainties and the control input constraints. © 2007 IEEE.
Collections
Cite as
Related items
Showing items related by title, author, creator and subject.
-
Conference Object
A scalable iterative convex design for nonlinear systems
Baldi, S.; Ioannou, Petros A.; Kosmatopoulos, E. B. (2012)A recently developed control scheme for approximately optimal control of nonlinear systems is the so-called Convex Control Design (ConvCD) methodology, that transforms the control problem of generic nonlinear systems into ...
-
Article
Multiple model adaptive control with mixing
Kuipers, M.; Ioannou, Petros A. (2010)Despite the remarkable theoretical accomplishments and successful applications of adaptive control, the field is not sufficiently mature to solve challenging control problems where strict performance and robustness guarantees ...
-
Article
Convex design control for practical nonlinear systems
Baldi, S.; Michailidis, I.; Kosmatopoulos, E. B.; Papachristodoulou, A.; Ioannou, Petros A. (2014)This paper describes a new control scheme for approximately optimal control (AOC) of nonlinear systems, convex control design (ConvCD). The key idea of ConvCD is to transform the approximate optimal control problem into a ...