Perpustakaan Digital ITB

In this thesis, linear quadratic regulator (LQR) control strategy for heading-hold manouever on an unmanned aerial vehincle (UAV) under a single aileron jammed condition is proposed. The reference aircraft is the MQ-9 “Reaper” medium altitude long endurance (MALE) UAV. For comparison purposes, the numerical aircraft model is trimmed and linearized at three different operating point: nominal condition with conventional control surface, faulty aircraft with conventional control surface, faulty aircraft while all control surface panels are allowed to move independently of each other. Three LQR controllers are then designed corresponding to each operating point. The combinations of aircraft numerical models, controllers, and control surface convention are narrated into four different simulation scenarios. In all of the scenarios, the aircraft and the corresponding controllers are able to track the heading command. However, the scenarios where the nominal controller is used for the faulty aircraft lead to larger overshoot and longer settling time. Giving freedom to all of the control surface panels improves the tracking response slightly with the cost of increased aerodynamic drag and required thrust. Minimal dynamic coupling for the longitudinal states is observed despite the introduction of failure to the system.