Robust $H_{\infty}$ /S-plane Controller of Longitudinal Control for UAVs

Abstract

In order to resolve the external disturbances and model parameters uncertainty during the unmanned aerial vehicles flight process, in this paper, we designed the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> /S-plane controller for longitudinal control of unmanned aerial vehicles (UAVs). The S-plane control model with strong nonlinearity was used as the outer loop controller and the robust Hoc control algorithm with strong robustness was used as the inner loop controller. The effectiveness of the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> /S-plane controller in the longitudinal control of unmanned aerial vehicles without external interference, with external interference and parameter perturbation, was simulated by a certain UAVs nominal model. The results showed that compared with H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> /PD controller and PID controller, H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> /S-plane controller has faster response speed and stronger anti-interference ability. So H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> /S-plane controller is more suitable for the longitudinal control of unmanned aerial vehicles than H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> /PD controller and PID controller.