Perpustakaan Digital ITB

Shipboard landing of Vertical Take-Off and Landing (VTOL) aircraft presents significant control challenges due to limited deck space, ship motion, and harsh sea conditions. This thesis develops a gain-scheduled Linear Quadratic Regulator (LQR) tracking controller for a tilt-rotor UAV to enable precise and autonomous deck landings. The controller combines state-feedback stabilization with integral action to minimize tracking errors relative to the moving ship deck while respecting actuator constraints. To address the UAV’s highly nonlinear dynamics during the transition from forward flight to hover, multiple linearized models are generated across a range of rotor tilt angles and airspeeds. Individual LQR gain matrices are designed for each operating condition and scheduled in real time based on the vehicle’s flight regime. This gain scheduling approach ensures smooth controller adaptation, maintaining optimal performance throughout the entire landing maneuver. Implemented within a MATLAB/Simulink environment with coupled UAV and ship motion, the proposed control system demonstrates reliable trajectory tracking and stability under realistic sea state disturbances. The results show that the gain-scheduled LQR strategy enables landings with vertical impact velocities below 0.2 m/s and achieves position tracking errors within 2?3 cm in the longitudinal direction, ensuring safe and accurate autonomous recovery of tilt-rotor UAVs in maritime operations.