Abstract
The development of a stability augmentation system of tailless UAV has been conducted using Linear Quadratic Gaussian (LQG) approach. This architecture utilizes an optimal state estimator (OSE) as inner loop feedback to improve the dynamic characteristics and stability of the system. This method then combined using Linear Quadratic Regulator (LQR) control law in order to gain optimal control performances. Initially, the system shows an unstable response both for longitudinal and lateral-directional stability. Based on its eigenvalue, it can be observed that the phugoid mode is unstable in the longitudinal direction, while the Dutch roll and spiral modes are significantly unstable in the lateral-directional modes. After the stability augmentation system (SAS) has been implemented, both modes become stable and their dynamic characteristics improving. The optimal state estimator also predicts accurately the full states of the system although there are several level disturbances applied. To sum up, the LQG-based of SAS implementation successfully improves the UAV stability and maintains its attitude along with trim flight conditions.
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