Design and Implementation of Nonlinear Control Systems for Rotary and Fixed Wing UAVs

Abstract

The aim of this paper is to present a novel approach for the design and implementation of onboard nonlinear control systems for different types of unmanned air vehicles. The essential difficulty of creating such controllers is the inherent nonlinearity of the dynamics of the system, which also introduces a great complexity. Our proposed approach relies on an automatic state dependent coefficient (SDC) factorization procedure, which is capable of handling the dynamic equations of the system on a symbolic level. The resulting linearized system representation is solved by the state dependent Riccati equation (SDRE) method. The applicability of the proposed methodology is demonstrated in this paper by means of various examples.