LQI Control Design with LQG Regulator via UKF for a Fixed-Wing Aircraft

Abstract

The purpose of this work is designing a Linear Quadratic Gaussian (LQG) regulator and a Linear Quadratic Integral (LQI) controller for a fixed-wing aircraft. The LQG regulator design is created in two steps. First, an Unscented Kalman Filter (UKF) is selected as an observer for system dynamics to procreate an overall best estimate of system states. Second, an optimal feedback gain is calculated via the Linear Quadratic Regulator (LQR) approach. An LQI controller is designed for robust tracking of referenced outputs which are airspeed, sideslip, pitch angle and roll angle. The proposed LQG/LQI scheme is implemented in the MATLAB, Simulink environment. The simulation results show that the implemented system regulates and controls the system successfully in a noisy environment.