Landing autopilot design for an UAV

Hanköylü, Merve
In this thesis, a landing autopilot for an UAV (IAI Pioneer RQ-2) is designed based on a nonlinear MATLAB model implemented with MATLAB/Simulink. In order to control the movement of the UAV at lateral and longitudinal axes, a speed, an altitude, a heading angle (direction) and a yaw rate controllers are designed. Controller design procedure is started with determination of different trim points of the aircraft. Next, the corresponding initial states and initial inputs are obtained. The model is linearized about those trim points and the gain values are determined. The resultant gain scheduled controller is used on the non-linear model. The response of the aircraft to these controllers is tested in a constrained landing area that is constructed with respect to applicable aviation regulations. The aircraft position is investigated whether it is inside or outside of this safe landing area. If it is inside, an optimized landing path set is obtained. The steepest descent method is used for multidimensional search and parabolic fit method is used for one dimensional search (as line search) in the optimization phase. In case it is outside the defined landing area a special algorithm which takes the aircraft into the desired region is applied. In addition, the area is allowed to move as much as possible depending on the situation with special regards to the length of the runway. Also a lateral position controller is designed in order to provide the reach of the aircraft to the main landing path.


Landing autopilot design for an unmanned aerial vehicle /
Ak, Ayşe İlden; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2014)
In this thesis, studies for the development of a landing autopilot for the UAV (Unmanned Aerial Vehicle), Pioneer RQ2 are presented. Firstly, 6 DOF (degree of freedom) nonlinear model of Pioneer is implemented in Matlab-Simulink based on FDC (Flight Dynamics and Control) Toolbox. Then, in accordance with steady-state wings level flight condition, trim points are found for different airspeed values, constant height and zero flight path angle. The nonlinear model of Pioneer is linearized at these trim points ...
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Dede, Emre; Tekinalp, Ozan; Department of Aerospace Engineering (2011)
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In this thesis, localization and trajectory following of a quadrotor is obtained with attitude and position control along with the help of an onboard monocular camera. Two control strategies are adopted for this aim, which are well-known PID and nonlinear backstepping controllers. For the PID algorithm, a cascaded structure is preferred so that angular rates are regulated as the inner loop of the attitude controller. At the outer loop of this system, angles are stabilized by producing rate references to the...
Autopilot and guidance design for a Mini ROV (Remotely Operated Underwater Vehicle
Cevher, Fırat Yılmaz; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2012)
This thesis consists of a mathematical model, autopilot and guidance design of a mini ROV (Remotely Operated Underwater Vehicle) and investigates the effects of environmental forces (ocean currents etc.) on the guidance algorithms. First of all, a non-linear 6 degrees-of-freedom (DOF) mathematical model is obtained. This model includes hydrodynamics forces and moments. There is no exact calculation method for hydrodynamic coefficients; however strip theory and results of computational fluid dynamics (CFD) a...
Citation Formats
M. Hanköylü, “Landing autopilot design for an UAV,” M.S. - Master of Science, Middle East Technical University, 2011.