Nonlinear Robust Roll Autopilot Design Using Sum-of-Squares Optimization

Abstract

In this paper, we study nonlinear robust stabilization of roll channel of a pursuit using the sum of squares (SOS) technique. Roll control is a fundamental part of flight control for every pursuit. A nonlinear state feedback controller is designed based on a new stability criterion which can be viewed as a dual to Lyapunov's second theorem. This criterion has a convexity property, which is used for controller design with convex optimization. Furthermore, using generalized S-procedure lemma robustness of the controller is guaranteed. The performance of the proposed method for roll autopilot is verified via numerical simulations.