Tracking Attitude With Sum-of-Squares Programming for a Fixed-Wing Air Vehicle

A controller that uses sum-of-squares programming is proposed for the attitude control of fixed-wing aircraft. Firstly, the vehicle's state space form of attitude model is obtained by utilizing general mechanics. Then an online compute controller is designed to achieve the desired attitude tracking performance by solving contraction control metric related to the linearization area near the equilibrium point. Finally, the effectiveness of the control algorithm is demonstrated by a comparative simulation experiment.