Abstract
This paper proposes a vehicle controller design for two design requirements; variable maneuverability and disturbance rejection, where the meaning of variable maneuverability is defined as, roughly speaking, matching of plant outputs with model outputs in some frequency range for many models, possibly infinitely many models, without changing the controller. The proposed controller is composed of a feedback controller and a feedforward controller; the feedback controller is a disturbance rejection controller which minimizes the H∞ norm of the transfer function from disturbance inputs to controlled outputs, and the feedforward controller is a right inverse system of the closed-loop system composed of the plant and the feedback controller. With using our proposed method, we design a controller for the lateral-directional motions of a research aircraft. We conducted hardwarein-the-loop simulations and flight tests to verify the simultaneous realization of variable maneuverability and disturbance rejection. These experiments have shown that the controller has satisfying performance under real conditions; that is, variable maneuverability and disturbance rejection are simultaneously realized under real conditions.
