Title :
Nonlinear control of the PVTOL aircraft by numerical inversion of its behavioral model
Author :
Nguyen, Huu Phuc ; De Miras, Jerome ; Bonnet, Stephane ; Charara, Ali
Author_Institution :
Heudiasyc Lab., Univ. de Technol. de Compiegne, Compiegne, France
Abstract :
This paper deals with the nonlinear control of the planar vertical takeoff and landing aircraft (PVTOL) using a simple, fast and nonlinear discrete time control approach. The proposed control approach uses an approximate numerical one-step time discretization of the nonlinear plant model behavior obtained from offline simulations. Using that discretization, a control minimizing the distance between the plant output and a reference linear system is computed, leading the system to adopt its dynamical behavior. Since the prediction horizon is limited to one time-step, the execution time of the algorithm can be completely bounded. It can thus easily be implemented and used to control fast electromechanical systems. Experimental results obtained from some simulations show the performance and robustness of the proposed controller.
Keywords :
aircraft control; approximation theory; discrete time systems; robust control; PVTOL aircraft; dynamical behavior; electromechanical systems; nonlinear discrete time control approach; nonlinear plant model behavior; numerical inversion; numerical one-step time discretization; offline simulations; planar vertical takeoff and landing aircraft; plant output; reference linear system; Aircraft; Approximation methods; Atmospheric modeling; Mathematical model; Prediction algorithms; Trajectory; Vectors;
Conference_Titel :
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location :
Juan Les Antibes
DOI :
10.1109/CCA.2014.6981388