Control-Based Robust CAS Design for QTW-UAV via the Multiple-Model Approach with Particle Swarm Optimization

Table 2

Admissible CAS gain regions, CAS gains in [6], optimized CAS gains using our method and the parameters of weighting function .

Design point			Gains in [6]		Our CAS gains			HF
	1 (T90)	[-50,0]	[-40,0]	-50	-40	-38			-34	0.2	1.44
2 (T70)	[-50,0]	[-40,0]	-50	-40	-40	-37	0.1	1.47
3 (T50)	[-80,0]	[-50,0]	-80	-50	-41	-19	0.2	1.67
4 (T30)	[-120,0]	[-50,0]	-88	-50	-41	-19	0.5	1.70
5 (T15)	[-100,0]	[-50,0]	-100	-50	-42	-26	0.4	1.21
6 (T00)	[-100,0]	[-50,0]	-100	-50	-55	-45	1.0	1.10
7 (clean)	[-100,0]	[-50,0]	-100	-50	-31	-22	0.6	1.05