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Research Papers

Nonlinear Robust Roll Autopilot Design Using Sum-of-Squares Optimization

[+] Author and Article Information
Sajjad Pak Khesal

Department of Electrical and
Computer Engineering,
Malek-Ashtar University of Technology,
Tehran 15875-1774, Iran
e-mail: sajjadpak70@yahoo.com

Iman Mohammadzaman

Department of Electrical and
Computer Engineering,
Malek-Ashtar University of Technology,
Tehran 15875-1774, Iran
e-mail: mohammadzaman@mut.ac.ir

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received December 4, 2017; final manuscript received May 2, 2018; published online June 4, 2018. Assoc. Editor: Mohammad A. Ayoubi.

J. Dyn. Sys., Meas., Control 140(11), 111005 (Jun 04, 2018) (8 pages) Paper No: DS-17-1603; doi: 10.1115/1.4040218 History: Received December 04, 2017; Revised May 02, 2018

In this paper, we study nonlinear robust stabilization of roll channel of a pursuit using the sum of squares (SOS) technique. Roll control is a fundamental part of flight control for every pursuit. A nonlinear state feedback controller is designed based on a new stability criterion which can be viewed as a dual to Lyapunov's second theorem. This criterion has a convexity property, which is used for controller design with convex optimization. Furthermore, using generalized S-procedure lemma robustness of the controller is guaranteed. The performance of the proposed method for roll autopilot is verified via numerical simulations.

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Figures

Grahic Jump Location
Fig. 5

Variations of Cla with respect to velocity

Grahic Jump Location
Fig. 6

Variations of Kδ with respect to velocity

Grahic Jump Location
Fig. 4

Variations of Kδ with respect to altitude

Grahic Jump Location
Fig. 3

Variations of Cla with respect to altitude

Grahic Jump Location
Fig. 2

Variations of Kδ with respect to flight time

Grahic Jump Location
Fig. 1

Variations of Cla with respect to flight time

Grahic Jump Location
Fig. 7

Polynomial approximation of sin(4x)

Grahic Jump Location
Fig. 12

Rate of control input

Grahic Jump Location
Fig. 13

Roll angle during flight time

Grahic Jump Location
Fig. 14

Control input during flight time

Grahic Jump Location
Fig. 15

Roll angle during flight time for different values of angle of attack

Grahic Jump Location
Fig. 16

Control input during flight time for different values of angle of attack

Grahic Jump Location
Fig. 8

The phase plane of the closed-loop system, for four different values of uncertain parameters with the initial state x1,x2=(17,0)

Grahic Jump Location
Fig. 11

The curve of control input

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