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Model and robust gain‐scheduled PID control of a bio‐inspired morphing UAV based on LPV method
Author(s) -
Shao Pengyuan,
Wu Jin,
Wu Chengfu,
Ma Songhui
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2187
Subject(s) - pid controller , morphing , control theory (sociology) , jacobian matrix and determinant , robustness (evolution) , linearization , nonlinear system , robust control , control engineering , engineering , computer science , control system , control (management) , mathematics , temperature control , artificial intelligence , biochemistry , chemistry , physics , electrical engineering , quantum mechanics , gene
In this paper, a linear parameter‐varying (LPV)‐based model and robust gain‐scheduled structural proportion integral and derivative (PID) control design solution are proposed and applied on a bio‐inspired morphing wing unmanned aerial vehicle (UAV) for the morphing process. In the LPV model method, the authors propose an improved modeling method for LPV systems. The method combines partial linearization and function substitution. Using the proposed method, we can choose the varying parameters simply, thus creating a model that is more flexible and applicable. Then, a robust gain‐scheduled structural PID control design method is given by introducing a structural matrix to design a structural PID controller, which is more consistent with the structure of the PID controller used in practice and has a simpler structure than representative ones in the existing literature. The simulation results show that the developed LPV morphing UAV model is able to catch the response of the original nonlinear model with a smaller error than the existing Jacobian linearization method and the designed controller can maintain stable flights in practice with satisfactory robustness and performance.