Robust LQR-Based Autopilot Design for Hybrid Energy Harvesting UAVs
DOI:
https://doi.org/10.33003/fjorae.2024.0102.07Keywords:
Autopilot, LQR, Energy-Harvesting UAV, Decoupling, LinearizationAbstract
The hybrid energy harvest light surveillance unmanned aircraft is designed to be powered with a wind energy fuel-cell. The fuel-cell will produce electrical energy through a regenerative chemical reaction. In the absence of this chemical reaction, energy will be extracted from the vertical gradients of the horizontal wind through a process known as dynamic soaring. For the safe operation of the UAV, stabilization and trajectory control are essential. These features are achieved with the aid of a robust flight control system (autopilot). Owning to the advantages of Linear Quadratic Regulator (LQR) over other controllers which include, its ability to handle Multiple INpute Multiple Output systems and its superior performanc when handling unceertainties and disturbances, it was employed for the design of the control system. The nonlinear simulation model that gives a good representation of the UAV in MATLAB/Simulink environment was developed taking into account the aerodynamic components in 6DOF of equation of motion, the propulsion and the gravity effects. Trimming, decoupling and linearization of the developed nonlinear model were carried out. In order to evaluate the performance of the LQR controller, the response of the system to perturbation was compared to that of the closed loop system with the LQR implemented. In the open loop case none of the states being measured returned to their original value after the introduction of disturbances for 2 seconds. For the closed loop control using the LQR, stability was achieved in the following states; Side velocity, Yaw Rate, Yaw angle, Roll rate and roll angle with their settling times being 36, 40, 41, 30 and 46 seconds respectively. Open loop responses of the models to various control inputs indicated the accuracy of the models. The linearized models were used to design the Autopilot system that has the tendency of stabilizing the UAV in the presence of any uncertainty. The closed loop systems were tested and the influence of different disturbances and the results indicated that the LQR base autopilot is robust enough to ensure safe flight of the UAV
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