Abstract
A flight control system was developed for an unmanned vehicle based on the Kaman K-MAX helicopter. The initial design was based on an 8-DOF linear state-space aircraft model extracted from flight test data. The aircraft dynamics were combined with estimated sensor and actuator dynamics, around which the control law architecture was developed. The baseline control system gains were tuned using optimization software to meet a selection of applicable performance and handling-quality specifications. Realtime evaluation of the control laws was accomplished on a desktop simulation. Flight test of the resulting control laws revealed discrepancies between the model and the aircraft; the model was updated with accurate sensor and actuator dynamics identified from flight-test data. After re-tuning the control system gains, the aircraft performance closely matched prediction.
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