System and method for robust nonlinear regulation control of unmanned aerial vehicles synthetic jet actuators

摘要

An unmanned aerial vehicle (UAV) is provided with a plurality of synthetic jet actuators and a nonlinear robust controller. The controller compensates for uncertainty in a mathematic model that describes the function of the synthetic jet actuators. Compensation is provided by the use of constant feedforward best guess estimates that eliminate the need for more highly computationally burdensome approaches such as the use of time-varying adaptive parameter estimation algorithms.

主权项

1. An unmanned aerial vehicle (UAV), comprising:
an airframe; a plurality of synthetic jet actuators (SJA) affixed to the airframe, each SJA configured to selectively produce a stream of air in response to a control command input thereto, each SJA being represented by a mathematical model having at least two uncertain parameters; a plurality of sensors configured to determine an operating condition of the UAV; and a control system configured to provide the control command to each of the plurality of synthetic jet actuators based on the operating condition of the UAV and a control law, the control law including a constant estimate for each of the uncertain parameters in the mathematical model of each corresponding SJA; wherein the control system controls at least one or both of the trajectory of the UAV and the vibration of the UAV by activating at least one of the plurality of SJA with the control command.