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UID:0-6999@eng.ufl.edu
DTSTART;TZID=America/New_York:20241121T124500
DTEND;TZID=America/New_York:20241121T134500
DTSTAMP:20251201T210418Z
URL:https://www.eng.ufl.edu/news-events/events/mae-seminar-robust-control-
 tools-for-validating-uas-flight-controllers/
SUMMARY:MAE Seminar - Robust Control Tools for Validating UAS Flight Contro
 llers
DESCRIPTION:MAE Seminar - Robust Control Tools for Validating UAS Flight Co
 ntrollers\n\nNovember 21\, 2024\, at 12:50pm\, Location: MAE-A 303\n\nMaze
 n Farhood\nProfessor\nKevin T. Crofton Department of\nAerospace and Ocean 
 Engineering\nVirginia Tech\n\nAbstract\nThis talk presents a framework bas
 ed on robust control theory to aid in the certification process of unmanne
 d aircraft system (UAS) flight controllers. Uncertainties are characterize
 d and quantified based on mathematical models and flight test data obtaine
 d in-house for a small\, commercial\, off-the-shelf platform with a custom
  autopilot. These uncertainties are incorporated via a linear fractional t
 ransformation to model the uncertain UAS. Utilizing integral quadratic con
 straint (IQC) theory to assess the uncertain UAS worst-case performance\, 
 it is demonstrated that this framework can determine system sensitivities 
 to uncertainties\, compare the robustness of controllers\, tune controller
 s\, and indicate when controllers are not sufficiently robust. To ensure r
 epeatability\, this framework is used to tune\, compare\, and analyze a su
 ite of controllers\, including path-following\, trajectory-tracking\, H-in
 finity\, H2\, and PID controllers. By employing a non-deterministic simula
 tion environment and conducting numerous flight tests\, it is shown that t
 he uncertain UAS framework reliably predicts loss of control\, compares th
 e robustness of different controllers\, and provides tuned controllers whi
 ch are sufficiently robust. Furthermore\, robust performance guarantees fr
 om IQC analysis can be used to provide worst-case bounds on the UAS state 
 at each point in time\, providing an inexpensive and robust mathematical t
 ool to aid in the certification of UAS flight controllers.\n\nBiography\nM
 azen Farhood is a Professor in the Kevin T. Crofton Department of Aerospac
 e and Ocean Engineering at Virginia Tech. His previous positions\, before 
 joining Virginia Tech in 2008\, include scientific researcher at the Delft
  Center for Systems and Control\, Delft University of Technology\, The Net
 herlands\, and postdoctoral fellow at Georgia Tech's School of Aerospace E
 ngineering. He received the M.S. degree in 2001 and the Ph.D. degree in 20
 05\, both in mechanical engineering from the University of Illinois at Urb
 ana-Champaign. His areas of current research interest include robust contr
 ol\, motion planning and tracking along trajectories\, model complexity re
 duction\, and reliability analysis of UAS flight control systems. He recei
 ved the National Science Foundation CAREER Award in 2014.\n\nMAE Faculty H
 ost: Dr. Yu Wang
CATEGORIES:Seminars
LOCATION:MAE-A Room 303\, 939 Sweetwater Drive\, Gainesville\, FL\, 32611\,
  United States
GEO:29.643814;-82.34865
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  303:geo:29.643814,-82.34865
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