The Design of a Robust Autopilot for the Archytas Prototype Via Linear Quadratic Synthesis

Abstract

The purpose of this research is to design, simulate and implement a robust autopilot for the vertical mode of operation of the Archytas prototype. Archytas is an Unmanned Air Vehicle that is designed to take off and land vertically, and to transition to horizontal forward flight. A feedback control scheme is designed for both the single-input, single-output and the multi-input, multi-output subsystems using optimal control techniques. In this research, the linear quadratic regulator performance measure is modified to allow for its application to the tracking problem solution. Additionally, the control systems are designed using reduced order models. Computer simulations show that the reduced order controller designs provide results comparable to the full order controller designs. Successful hardware tests with the roll rate control system validated the reduced order model design philosophy used in this research.... Linear Quadratic Regulator, AROD, Archytas, Reduced Order, Performance measure.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1992
Accession Number
ADA262151

Entities

People

  • Joseph P. Davis

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Space

DTIC Thesaurus Topics

  • Aerodynamic Forces
  • Aircrafts
  • Automatic Pilots
  • Closed Loop Systems
  • Computer Simulations
  • Control Surfaces
  • Control Systems
  • Control Systems Engineering
  • Control Theory
  • Ducted Fans
  • Engineering
  • Equations Of Motion
  • Equations Of State
  • Nonlinear Systems
  • Unmanned Aerial Vehicles
  • Unmanned Systems
  • Vertical Takeoff Aircraft

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control