Development of a state dependent ricatti equation based tracking flight controller for an unmanned aircraft

Date

2013-09-16

Author

PRACH, ANNA
Tekinalp, Ozan

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A dual loop nonlinear State Dependent Riccati Equation (SDRE) control method is developed for the flight control of an unmanned aircraft. The outer loop addresses the attitude and altitude kinematics, while the inner loop handles the translational and rotational equations of motion. The control strategy utilizes a tracking control problem. The mismatch due to the SDC factorization of the inner loop is handled with a nonlinear compensator again derived from the tracking control formulation. The quadratic optimal control problems of the inner and outer loops are solved at discrete intervals in time. A nonlinear simulation model of the UAV is used to examine the performance of the SDRE controller. Two flight scenarios are considered: a coordinated turn maneuver and a high angle of attack flight. These simulation results show the effectiveness of the proposed nonlinear controller.

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https://hdl.handle.net/11511/107361

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Department of Aerospace Engineering, Conference / Seminar