Self-Scheduled LPV Control of Asymmetric Variable-Span Morphing UAV.

In this study, a novel framework for the flight control of a morphing unmanned aerial vehicle (UAV) based on linear parameter-varying (LPV) methods is proposed. A high-fidelity nonlinear model and LPV model of an asymmetric variable-span morphing UAV were obtained using the NASA generic transport model. The left and right wing span variation ratios were decomposed into symmetric and asymmetric morphing parameters, which were then used as the scheduling parameter and the control input, respectively. LPV-based control augmentation systems were designed to track the normal acceleration, angle of sideslip, and roll rate commands. The span morphing strategy was investigated considering the effects of morphing on various factors to aid the intended maneuver. Autopilots were designed using LPV methods to track commands for airspeed, altitude, angle of sideslip, and roll angle. A nonlinear guidance law was coupled with the autopilots for three-dimensional trajectory tracking. A numerical simulation was performed to demonstrate the effectiveness of the proposed scheme.