LQR and LQG control of the helicopter during landing on the ship deck

Abstract

PurposeThe purpose of this study is to test the performance of the designed automatic control system based on the Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) algorithms during landing of the helicopter on the ship deck. This paper is a further development of the series based on Topczewski et al. (2020).Design/methodology/approachThe system consists of two automatic control algorithms based on LQR and the LQG. It is integrated with the ship motion prediction system based on autoregressive algorithm with parameters calculated using Burg’s method. It is assumed that the source of necessary navigation data is integrated Inertial Navigation System with Global Positioning System. Landing of the helicopter on the ship deck is performed in automatic way, based on the preselected procedure. Performance of the control system is analyzed when all necessary navigation data is available for the system and in case when one of the parameters is unavailable during performing the procedure.FindingsIn this paper, description of the designed control system developed for performing the approach and landing of the helicopter using selected procedure is presented. Helicopter dynamic model is validated using the manufacturer data and by test pilots, overview is presented. Necessary information about ship motion model is also included. Tests showing mission performance while using LQR and LQG algorithms applied to the control system are presented and analyzed, taking into account both situations when full navigation data is available/unavailable for the control system.Practical implicationsResults of the system performance analyses can be used for selection of the proper control methodology for prospective helicopters autopilots. Furthermore, the system can be used to analyze the mission safety when information about one of the navigation parameters is identified by the navigation system as unavailable or incorrect and therefore unavailable during landing on the ship deck.Originality/valueIn this paper, control system dedicated for the automatic landing of the helicopter on the ship deck, based on two different control algorithms is presented. Influence of lack of information about one of the navigation parameters on the mission performance is analyzed.