Abstract
This paper aim is to present a comparative study between Linear Quadratic Regulator (LQR), Linear Quadratic Gaussian (LQG) and nonlinear controllers for pitch control of a fixed-wing Unmanned Aerial Vehicle (UAV). Due to a good stability margin and strong robustness LQR has been selected. LQG was chosen because is able to overcome external disturbances. Kalman Filter controller was also introduced to the fixed-wing UAV flight control. Further, we designed an autopilot that controls the pitch angle of the fixed-wing UAV. In the end, the control laws are simulated in Matlab/Simulink. The results obtained are compared to see which method is faster, more reliable and more robust.
Highlights
Fixed-wing Unmanned Aerial Vehicles (UAVs) have become a popular research topic in the last years
Linear Quadratic Gaussian (LQG) controller has good disturbance rejection ability and the fixed-wing UAV moves smoothly and faster than it does with Linear Quadratic Regulator (LQR) controller without disturbance as it is shown in figure 8
The Pitch control of a fixed-wing UAV is a system which needs a pitch controller to keep the angle at it desired response
Summary
Fixed-wing Unmanned Aerial Vehicles (UAVs) have become a popular research topic in the last years They are very different from conventional quadcopters. Fixed-wing UAVs can be used for many different missions including, data gathering, rescue and currently different organizations such as Zipline have begun to use them for delivery since they are capable of flying longer, higher and faster [2]. They offer a smooth transition of autonomous flight control design from theory to practice in addition to providing a proper solution in locations with difficult access or unsafe to human life. In this work a design of an autopilot that controls the pitch angle of a fixed-wing UAV is presented
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