LQR Controller with Kalman Estimator Applied to UAV Longitudinal DynamicsReport as inadecuate




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mannedair vehicle UAV. To better evaluate the effect of disturbances on theobtained measurements a Kalman filter is also used in the system. For thispurpose a small UAV that is normally used as a radio controlled plane ischosen. The linearized equations for a wings level flight condition and thestate space matrices are obtained. An optimal controller using LQR method tocontrol the altitude level is then designed. The effect of the disturbances onthe measurements are taken into account and the effectiveness of the Kalmanfilter in obtaining the correct measurements and achieving the desired controllevel are shown using the controller designed for the system. The small UAV iscommanded to the detiveness matrices are chosen to find the gains necessaryto build an effective altitude controller. Firstly the controller is testedunder the situation where disturbances are absent. Then a Kalman filter isdesigned and the system under distur.

KEYWORDS

Unmanned Air Vehicle; LQR Controller; Kalman Filter; Stability Analysis

Cite this paper

Hajiyev, C. and Vural, S. 2013 LQR Controller with Kalman Estimator Applied to UAV Longitudinal Dynamics. Positioning, 4, 36-41. doi: 10.4236-pos.2013.41005.





Author: Chingiz Hajiyev, Sıtkı Yenal Vural

Source: http://www.scirp.org/



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