H-infinity Output Feedback Control: Application To Unmanned Aerial Vehicle

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Title: H-infinity Output Feedback Control: Application To Unmanned Aerial Vehicle
Author: Gadewadikar, Jyotirmay
Abstract: This dissertation presents new necessary and sufficient conditions for static output -feedback control of linear time -invariant systems using the H -Infinity approach . Simplified conditions are derived which only require the solution of two coupled matrix design equations . It is shown that the static output -feedback H -Infinity solution does not generally yield a well -defined saddle point for the zero sum differential game ; conditions are given under which it does . This work presents a simplified parameterization of all H -Infinity static state -feedback controllers in terms of a single algebraic Riccati equation and a free parameter matrix . As a special case , necessary and sufficient conditions for the existence of an H -Infinity static output feedback gain are given . This work also proposes three numerically efficient solution algorithms for the coupled design equations to determine the static output -feedback gain . In two of the algorithms an initial stabilizing gain is not needed . Correctness of these algorithms is proved . These algorithms also give flexibility to relatively weight control input and system performance . Application to Unmanned Aerial Vehicle exemplifies the power of the theory developed . This work give a procedure for designing compensators of specified structure for shaping the closed loop response that uses H -infinity output -feedback design techniques . The method developed takes advantage of the wealth of experience in aerospace control design . This work also presents the implementation of L2 Gain Bounded Static Output -Feedback control on Electromechanical Systems . Finally some future applications are explored including wireless networks .
URI: http : / /hdl .handle .net /10106 /27
Date: 2007-08-23

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H-infinity Output Feedback Control: Application To Unmanned Aerial Vehicle. Available electronically from http : / /hdl .handle .net /10106 /27 .

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