Robust H gain-scheduled conversion for a tilt-wing rotorcraft

Jeffrey J. Dickeson, Oguzhan Cifdaloz, David W. Miles, Paul M. Koziol, Valana Wells, Armando Rodriguez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


This paper describes the development an analysis of robust, multi-variable H control systems for the conversion of the High-Speed Autonomous Rotorcraft Vehicle (HARVee), an experimental tilt-wing aircraft. Tilt-wing aircraft combine the high-speed cruise capabilities of a conventional airplane with the vertical takeoff and station keeping abilities of a helicopter by rotating their wings at the fuselage. Changing between cruise and hover flight modes in mid-air is referred to as the conversion process, or simply conversion. A nonlinear aerodynamic model was previously developed that captures the unique dynamics of the tilt-wing aircraft. An H design methodology was used to develop linear controllers along various operating points of a conversion trajectory. The development of these control systems was governed not only by performance specifications at each particular operating point, but also by the unique requirements of a gain-scheduled conversion control system. The performance of the resulting conversion closed-loop systems is analyzed in the frequency and time domains. Performance robustness with respect to parametric uncertainties has been studied for expected types of perturbations.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)1424401712, 9781424401710
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other45th IEEE Conference on Decision and Control 2006, CDC
Country/TerritoryUnited States
CitySan Diego, CA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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