Abstract
A control system design for the Marine Corp's AROD (Airborne Remote Operated Device) vehicle is described. The AROD vehicle consists of a single gasoline engine and propeller enclosed in a circular airfoil shroud, with the engine throttle and four control vanes (located just aft of the shroud) providing the necessary control authority. Linear quadratic regulator (LQR) and classical controller synthesis techniques were evaluated, with LQR producing a superior design for the coupled dynamics attitude controller because of the relatively slow response of the quarter-scale model airplane servos used to drive the control vanes. The controller design methodology is explained, and a combination of time responses and singular value analyses are used to evaluate the performance of the control system. Preliminary flight test data confirm the validity of the control system design.
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