Nonlinear H∞ attitude control of flapping wing micro aerial vehicle

Mathematical model of the attitude control system for Flapping Wing Micro Aerial Vehicle (FWMAV) was given, and a novel nonlinear H∞ control scheme was proposed. The attitude control is very challenging owing to the complex flight process, and the heavy difficulty is that the system embodies nonlinearity, time varying parameters, and all kinds of disturbances. To control the attitude movement effectively, a global nonlinear H∞ control strategy was contrived that the controller synthesis was based on Lyapunov function instead of solving the Hamilton-Jacobi-Isaacs (HJI) partial differential equation. The method overcomes the impact of time varying parameters and unknown disturbances to the system. Theoretical result is supported by simulation of the H∞ attitude control of FWMAV, and the validity of the proposed method is verified.