Robust Attitude Control Design of Quad-Tilt-Wing UAV: A Structured Mu-Synthesis Approach

Abstract

The problem of designing the flight controller for a quad-tilt-wing UAV to achieve robust performance under constraints on the controller structure is considered. An approach based on mu-synthesis is proposed: a non-parametric inverse multiplicative uncertainty description is employed to account for the uncertainties of the aircraft attitude dynamics at each operating condition. The resulting structured mu-synthesis problem is reformulated as a structured H-infinity problem and solved by means of available MATLAB software. Simulation results are presented in order to show the effectiveness of the approach.