Robust Optimal Control of MAV Based on Linear-Time Varying Decoupled Model Dynamics

This paper discusses a nonlinear robust control design procedure to micro air vehicle that uses the singular value (μ) and μ-synthesis technique. The optimal robust control law that combines a linear parameters varying (LPV) of UAV (unmanned aerial vehicle) are realized by using serial connection of the Kestrel autopilot and the Gumstix microprocessor. Thus, the robust control feedback loops, which handle the uncertainty of aerodynamics derivatives, are used to ensure robustness stability of the UAV local dynamics in longitudinal and lateral control directions.