Improved LQR Control System Design for Longitudinal Flight Dynamics of a Fixed-Wing UAV Autopilot. Aliyu B. Kisabo$1

摘要

This paper explores the application of a novel Linear Quadratic Gaussian (LQG) control synthesis for an autopilot on the longitudinal flight dynamics of a fixed-wing, Unmanned Aerial Vehicle (UAV). Modelling results for the small UAV are presented and numerical values of the aerodynamic derivatives are computed via the DIGITAL DATCOM* software. The control aspect of the autopilot system is designed with an improvement from the stand point of the Kalman Filter, with Kalman gain obtained from the solution to a Differential Riccati Equation (DRE) rather than the popular Algebraic Riccati Equation (ARE). This research shows an application option that demonstrates how this novel controller recovers the robustness lost with the traditional LQG controller. Thus, three controllers-LQR, LQG and an improved LQG controller (LQGj) are designed and compared. The synthesis and analysis of the stability and other qualitative control parameters were done using MATLAB/Simulink. Computer simulations showed the effectiveness of the proposed improved LQG control approach.