Quantitative Stability Evaluation Based on Region of Attraction for Control Method Choice for Nonlinear Systems and Its UAV Application

Abstract

When designing a system, its stability is one of very important information. When the object is a nonlinear system, there are few evaluation methods and it is mainly evaluated based on the skill of the designer. Region of attraction (RoA) is employed as a reasonable index for evaluating the stability of a nonlinear system, however, it is rarely used for control design because of the high computational load. Recently, a method with a comparatively small expense of calculation combined with the Monte Carlo method and the dichotomy method was proposed. By using this method, it is expected to give some kind of guide for trial and error in control design to the designer, and reduce the burden on the designer. This paper describes control design of a Quad Tilt Wing (QTW) Unmanned Aerial Vehicle (UAV) which is a type of vertical take-off and landing UAV as an example of applying the method to control design.