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

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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Main Authors: Ingabire Aline, Sklyarov Andrey A.
Format: Article
Language:English
Published: EDP Sciences 2019-01-01
Series:E3S Web of Conferences
Online Access:https://www.e3s-conferences.org/articles/e3sconf/pdf/2019/30/e3sconf_eeests-2019_02001.pdf
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spelling doaj-8e46a6384e0b42fcb41e2fa294f403de2021-03-02T09:26:13ZengEDP SciencesE3S Web of Conferences2267-12422019-01-011040200110.1051/e3sconf/201910402001e3sconf_eeests-2019_02001Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear controlIngabire AlineSklyarov Andrey A.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.https://www.e3s-conferences.org/articles/e3sconf/pdf/2019/30/e3sconf_eeests-2019_02001.pdf
collection DOAJ
language English
format Article
sources DOAJ
author Ingabire Aline
Sklyarov Andrey A.
spellingShingle Ingabire Aline
Sklyarov Andrey A.
Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control
E3S Web of Conferences
author_facet Ingabire Aline
Sklyarov Andrey A.
author_sort Ingabire Aline
title Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control
title_short Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control
title_full Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control
title_fullStr Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control
title_full_unstemmed Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control
title_sort control of longitudinal flight dynamics of a fixedwing uav using lqr, lqg and nonlinear control
publisher EDP Sciences
series E3S Web of Conferences
issn 2267-1242
publishDate 2019-01-01
description 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.
url https://www.e3s-conferences.org/articles/e3sconf/pdf/2019/30/e3sconf_eeests-2019_02001.pdf
work_keys_str_mv AT ingabirealine controloflongitudinalflightdynamicsofafixedwinguavusinglqrlqgandnonlinearcontrol
AT sklyarovandreya controloflongitudinalflightdynamicsofafixedwinguavusinglqrlqgandnonlinearcontrol
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