In this paper, a robust path-tracking controller for a High Altitude Long Endurance (HALE) aircraft is presented. The main control paradigm for operating a HALE aircraft consists of a basic path following control, i.e. tracking a reference flight path and airspeed while dealing with very limited thrust. The priority lies in keeping airspeed inside the small flight envelope of HALE aircraft even during saturated thrust. For the basic path following objective, a mixed sensitivity approach is proposed which can easily deal with decoupled tracking and robustness requirements. To deal with saturated control inputs, an anti-windup scheme is incorporated in the control design. A novel observer-based mixed sensitivity design is used which allows directly using classical anti-windup methods based on back-calculation. The control design is verified in nonlinear simulation and compared to a classical total energy control based controller.
|Title of host publication||2022 30th Mediterranean Conference on Control and Automation (MED)|
|Number of pages||6|
|Publication status||Published - 1 Jul 2022|
|Title||2022 30th Mediterranean Conference on Control and Automation (MED)|
|Duration||28 June - 1 July 2022|
- State feedback, Sensitivity, Systematics, Control design, Windup, Atmospheric modeling, Aircraft