Tensor Product Model-based Control Design with Relaxed Stability Conditions for Perching Maneuvers

Abstract

This paper proposed a control design approach based on tensor product models for perching maneuvers of fixed-wing aircraft. The highly nonlinear longitudinal dynamics of perching maneuvers is transformed into a tensor product model. The interpolation technique is investigated to reduce the conservatism of the convex tensor product model. The properties of the time derivatives of premise membership functions are utilized in the control design process to further reduce the control conservatism. The proposed method is demonstrated with simulation results.