Robust LPV Control of UAV with Parameter Dependent Performance

Abstract: Existing control theory for linear parameter varying system uses a uniform upper bound on the induced-L2 norm for the varying parameters. In this paper, this constant is generalized as a function of parameters, the design provides varying induced-L2 performance in the presence of real-time variations and consequently gives rise to the superior robust performance of the local operating point. The controller synthesis incorporates known bounds on the rate of variation and as in the existing theory, the synthesis problem reduces to convex optimization involving linear matrix inequalities. An example, robust LPV flight control design of UAV demonstrator was used to illustrate the design criterion.