Robust LPV control for morphing vehicles via velocity-based linearization

The attitude control problem of morphing vehicles with alterable wings during fast morphing process is researched. A new robust linear parameter varying (LPV) controller using velocity-based linearization is presented to ensure flight stability and performance within full envelope. The velocity-based linearization associates a linear system with every operating point of a nonlinear system by augmented state vector. This approach relaxes the slow variation restriction of the traditional method which is only fitted to equilibrium opera-ting points. The polytopic LPV model is established for the morphing vehicle. A sufficient condition is proposed to find the parameter-dependent robust H_∞ state feedback controller. The LPV controller can be obtained by interpolation using variable parameters and vertex controllers. The simulation results show that the proposed approach can guarantee good robustness and control performance of the morphing vehicles during the fast reshaping process within full flight envelope.