Implementation Of Variable Robustness Algorithm

Abstract

The research work presents modulating robustness algorithm for system of unmanned air vehicle more specifically system of missile which is based upon scenario approach having probabilistic framework. Multiple robust control schemes are synthesized having different levels of robustness giving flexibility of choosing among different controllers according to certain performance and robustness criteria. The proposed scheme approximates uncertainty set by randomization uncertain set having infinite number of scenarios and formulates corresponding convex constrained optimization problem. Multiple controllers are synthesized by sorting and deleting uncertain elements whose elimination give largest improvement in optimal value. The coupling between different channels including longitudinal and lateral channels makes the system uncertain risking stability of the system. In order to make the system invulnerable of uncertainties, a robust scheme is required while ensuring certain performance criteria. The convex constrained problem is formulated in the form of LMI parametrized by randomized uncertain elements. The proposed algorithm is implemented on the system giving multiple levels robustness control corresponding to certain robustness and performance levels. The approach has been implemented on linear as well as non-linear model of the system. The system is perturbed to check the effectiveness of the algorithm proposed. Results of proposed algorithm are paralleled with 𝐻∞ to test effectiveness of the algorithm.