Simple internal model-based robust control design for a non-minimum phase unmanned aerial vehicle

Simple item page
dc.contributor.authorZolotas, Argyrios
dc.date.accessioned2023-05-03T08:57:12Z
dc.date.available2023-05-03T08:57:12Z
dc.date.issued2023-04-21
dc.description.abstractRobust control has been successful in enabling flight stability and performance for UAVs. This paper presents a simple explainable robust control design for UAV platforms with non-minimum phase (NMP) zero characteristics in their model. The paper contributes to economic (simple) robust control design by addressing the NMP model’s characteristics via Internal Model Control (IMC) and its impact on the UAV pitch response performance. The proposed design is compared with a Parallel Feedback Control Design (PFCD) scheme for the same vehicle platform, for fair comparison. Simulation results illustrate the achievement of the proposed control designs for the UAV platform; only the pitch control is addressed. A by-product of this work is the interpretation of different ways of manipulating the non-minimum phase plant model, so-called ‘modelling for control’, to enable the simple controller design. The work in this paper underpins the simplicity and robustness of the IMC technique for the NMP UAV platform, which further supports the explainability of the control structure relative to performance.en_UK
dc.identifier.citationZolotas A (2023) Simple internal model-based robust control design for a non-minimum phase unmanned aerial vehicle, Machines, Volume 11, Issue 4, April 2023, Article number 498en_UK
dc.identifier.issn2075-1702
dc.identifier.urihttps://doi.org/10.3390/machines11040498
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/19574
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectunmanned aerial vehiclesen_UK
dc.subjectrobust controlen_UK
dc.subjectexplainabilityen_UK
dc.subjectnon-minimum phase zeroen_UK
dc.subjecttime delaysen_UK
dc.subjectinternal model controlen_UK
dc.titleSimple internal model-based robust control design for a non-minimum phase unmanned aerial vehicleen_UK
dc.typeArticleen_UK

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Non-minimum_phase_unmanned_aerial_vehicle-2023.pdf
Size:
1.46 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.63 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Staff publications (SATM)