A Randomized Approach for Robust Control of Uncertain UAVs

The objective of this paper is the development of a randomized LQR algorithm for UAVs subject to uncertainty. A controller gain is synthesized using a Lyapunov approach dealing with a formation of two mini-UAV systems in the classical Leader/Wingman configuration. Our contribution is to demonstrate that the proposed sequential algorithm provides a randomized controller which stabilizes the uncertain system. This probabilistic technique is then validated with an extensive a posteriori analysis. We show that the UAV reaches the desired altitude without an additional PID channel, and therefore tuning of the controller gains is avoided.