Attitude control of a mini flying-wing UAV using the multiple simultaneous specification design method

Abstract

The multiple simultaneous specification controller design method is an elegant means of designing a single controller to satisfy multiple convex closed-loop performance specifications. In this study, the method is used to design pitch and roll attitude controllers for a Zagi flying-wing unmanned aerial vehicle. A linear model of the aircraft is developed, in which the lateral and longitudinal motions of the aircraft are decoupled. The controllers are designed for this decoupled state space model. Linear simulations are performed in Simulink, and all performance specifications are satisfied by the closed-loop system. Flight tests of the longitudinal controller are also executed. The desired performance specifications of the longitudinal controller have not strictly been met in flight. For a mini-unmanned aerial vehicle such as the Zagi, it is likely that more complex model development may be required in addition to controller design that considers sensitivity to external disturbances.