Observer-Based Flight Controller Design Using Robust Control Toolbox<sup>®</sup>

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  • Sato Masayuki
    連絡先著者（Corresponding author）：sato.masayuki@jaxa.jp 国立研究開発法人宇宙航空研究開発機構
  • Akasaka Daisuke
    MathWorks Japan

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  • Robust Control Toolbox<sup>®</sup>を用いたオブザーバベース飛行制御器設計

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<p>This paper addresses the design problem of Luenberger observer-based robust iHi∞ flight controllers for aircraft motion control. Structured Linear Time-Invariant (LTI) iHi∞ controllers, which are merely sub-optimal with respect to the optimality of H∞ norm in controllers' parameter space but are attractive due to the simpler structure than full-order H∞ controllers, can be easily designed using MATLAB® hinfstruct even for LTI Parameter-Dependent (LTIPD) and Linear Parameter-Varying (LPV) systems via two-step design. That is, controller gain candidates are firstly designed as common gains for multiple LTI models selected from the LTIPD or LPV systems with specific parameter values, and their practical performance is then examined for the LTIPD or LPV systems with rigorous analysis conditions. However, hinfstruct cannot handle multiple design specifications simultaneously, thus, it is not so easy to design practical flight controllers which should meet various requirements. This paper addresses the design problem of Luenberger observer-based robust H∞ flight controllers using MATLAB® systune, and demonstrates that such controllers can be designed with observer performance optimized under a priori specified scaled-H∞ performance and controller gain constraints. The effectiveness of the controller is examined by Hardware-In-the-Loop Simulations (HILS) with JAXA's research airplane MuPAL-α. </p>

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