Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control

This paper aim is to present a comparative study between Linear Quadratic Regulator (LQR), Linear Quadratic Gaussian (LQG) and nonlinear controllers for pitch control of a fixed-wing Unmanned Aerial Vehicle (UAV). Due to a good stability margin and strong robustness LQR has been selected. LQG was ch...

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Bibliographic Details
Published in:E3S web of conferences 2019-01, Vol.104, p.2001
Main Authors: Ingabire, Aline, Sklyarov, Andrey A.
Format: Article
Language:English
Subjects:
Aerodynamics
Automatic pilots
Comparative studies
Control theory
Fixed wings
Flight
Flight control
Flight control systems
Kalman filters
Linear quadratic regulator
Nonlinear control
Pitch (inclination)
Unmanned aerial vehicles
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Summary:This paper aim is to present a comparative study between Linear Quadratic Regulator (LQR), Linear Quadratic Gaussian (LQG) and nonlinear controllers for pitch control of a fixed-wing Unmanned Aerial Vehicle (UAV). Due to a good stability margin and strong robustness LQR has been selected. LQG was chosen because is able to overcome external disturbances. Kalman Filter controller was also introduced to the fixed-wing UAV flight control. Further, we designed an autopilot that controls the pitch angle of the fixed-wing UAV. In the end, the control laws are simulated in Matlab/Simulink. The results obtained are compared to see which method is faster, more reliable and more robust.
ISSN:2267-1242
2555-0403
2267-1242
DOI:10.1051/e3sconf/201910402001