Flight control law of unmanned aerial vehicles based on robust servo linear quadratic regulator and Kalman filtering

Yongfeng Zhi,Jun Zhang,Ke Yu,Qun Song,Gaoshang Li

doi:10.1177/1729881416686952

Abstract

A new flight control law for unmanned aerial vehicles based on robust servo linear quadratic regulator control and Kalman filtering is proposed. This flight control law has a simple structure with high dependability in engineering. The pitch angle controller, which is designed based on the robust servo linear quadratic regulator control, is given to show the flight control law. Simulation results show that the pitch angle controller works well under noise-free conditions. Finally, Kalman filtering is applied to the pitch angle controller under noisy conditions, and the simulation results show that the proposed method reduces the influence of noise.

Highlights

Unmanned aerial vehicles (UAVs) have shown their great value in recent years because of their small volume, lightweight, and low cost
Simulation results show that the proposed flight control law based on robust servo linear quadratic regulator (LQR) and Kalman filtering estimates the real state vector accurately, and it satisfies the performance of UAV under the noise conditions
In the pitch angle controller, the robust servo LQR controller is compared to the conventional PID controller to demonstrate its advantages; the simulation results are shown in Figures 3 and 4

Summary

Introduction

Unmanned aerial vehicles (UAVs) have shown their great value in recent years because of their small volume, lightweight, and low cost. A new flight control law based on robust servo LQR control is designed to control the longitudinal motion of UAVs. a pitch angle controller is provided to demonstrate its advantages. Simulation results show that the proposed flight control law based on robust servo LQR and Kalman filtering estimates the real state vector accurately, and it satisfies the performance of UAV under the noise conditions. According to the objective function of the robust servo LQR, we obtain the optimal control input vector u and apply u to the system (1) to design the flight control law. The robust servo LQR control improves the system type and enhances antijamming ability because it adds the integral element in the state feedback control loop This flight control law, based on robust servo LQR control, can improve the dynamic behavior and steady-state performance of the control system. V 1⁄4 50 m=s, h 1⁄4 2500 m; at the trim point, the flying angle is 6:1, T 1⁄4 74%, e1⁄4À11:1, and A, B, and C of UAV are set to be[19]

À23:78

E À 1:47T Þ2

Robust servo LQR without noise

Conclusions