The design of a robust autopilot for the Archytas prototype via linear quadratic synthesis

Abstract

The purpose of this research is to design, simulate and implement a robust autopilot system for the vertical mode of operation of the Archytas prototype. Archytas is an Unmanned Air Vehicle that is designed to take off and land vertically, and to transition to horizontal forward flight. A feedback control schema is designed for both the single-input, single-output and the multi-input, multi-output subsystems using optimal control techniques. In this research, the linear quadratic regulator performance measure is modified to allow for its application to the tracking problem solution. Additionally, the control systems are designed using reduced order models. Computer simulations show that the reduced order controller designs provide results comparable to the full order controller designs. Successful hardware tests with roll rate control system validated the reduced order model design philosophy used in this research.