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Robotics 2014, 3(4), 330-348; doi:10.3390/robotics3040330

Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

1
Department of Physical Sciences, Embry-Riddle Aeronautical University, 600 S Clyde Morris Blvd, Daytona Beach, FL 32114, USA
2
Department of Aerospace Engineering, Embry-Riddle Aeronautical University, 600 S Clyde Morris Blvd, Daytona Beach, FL 32114, USA
*
Authors to whom correspondence should be addressed.
Received: 31 May 2014 / Revised: 22 July 2014 / Accepted: 15 August 2014 / Published: 26 September 2014
(This article belongs to the Special Issue Advances in Biomimetic Robotics)

Abstract

In this paper, a synthetic jet actuators (SJA)-based nonlinear robust controller is developed, which is capable of completely suppressing limit cycle oscillations (LCO) in UAV systems with parametric uncertainty in the SJA dynamics and unmodeled external disturbances. Specifically, the control law compensates for uncertainty in an input gain matrix, which results from the unknown airflow dynamics generated by the SJA. Challenges in the control design include compensation for input-multiplicative parametric uncertainty in the actuator dynamic model. The result was achieved via innovative algebraic manipulation in the error system development, along with a Lyapunov-based robust control law. A rigorous Lyapunov-based stability analysis is utilized to prove asymptotic LCO suppression, considering a detailed dynamic model of the pitching and plunging dynamics. Numerical simulation results are provided to demonstrate the robustness and practical performance of the proposed control law. View Full-Text
Keywords: nonlinear; robust; LCO; synthetic jet actuator nonlinear; robust; LCO; synthetic jet actuator
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Pedroza, N.R.; MacKunis, W.; Golubev, V.V. Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators. Robotics 2014, 3, 330-348.

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