A switched control for UAVs

Author

Sandoval-Torres, R. ; Adam-Medina, M. ; Cervantes, I. ; Diaz-Diaz, I.A.

Author_Institution

Centro Nac. de Investig. y Desarrollo Tecnol., Cuernavaca, Mexico

fYear

2012

fDate

25-28 Oct. 2012

Firstpage

5578

Lastpage

5583

Abstract

This paper analyzes the stability of a class of linear switched control based on a Piecewise Continuous (PWC) description of the aerial vehicle. Sufficient conditions for the existence of a common Lyapunov equation are stated for an output-dependent control law that makes use of an observer to assign closed-loop performance at each mode. The resulting scheme is able to guarantee asymptotic stability to the desired equilibrium set under arbitrary switching. The results are illustrated via numerical simulations in an airplane model.

Keywords

Lyapunov methods; asymptotic stability; autonomous aerial vehicles; numerical analysis; observers; PWC description; UAV; aerial vehicle; airplane model; arbitrary switching; asymptotic stability; closed-loop performance; common Lyapunov equation; linear switched control; numerical simulations; observer; output-dependent control law; piecewise continuous; Observers; Switches; UAVs; asymptotic stability; linear switching control; picewise continuous system;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Montreal, QC

ISSN

1553-572X

Print_ISBN

978-1-4673-2419-9

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2012.6389014

Filename

6389014