arXiv subjects
Publications and source records attributed to Luciano Ollio.
In this paper an uncertain norm-bounded mathematical model for the UAV High Altitude Performance Demonstrator (HAPD) designed by Italian Aerospace Research Center (CIRA) is carried out. The linear state space description aims to describe the non-linear aircraft dynamic inside the operating envelope characterized by the following bounds: true air speed between 17 m/s and 23 m/s and altitude from 300 m to 700 m.
A robust model predictive control scheme for a class of constrained norm-bounded uncertain discrete-time linear systems is developed under the hypothesis that only partial state measurements are available for feedback. Off-line calculations are devoted to determining an admissible, though not optimal, linear memoryless controller capable to formally address the input rate constraint; then, during the on-line operations, predictive capabilities complement the off-line controller by means of N steps free control actions in a receding horizon fashion. These additive control actions are obtained by solving semi-definite programming problems subject to linear matrix inequalities constraints.