A Monte Carlo simulation is made on LQ and SDRE showing that the model is robust against relatively large modeling error of 40%. Still SDRE is preferable since it will always be somewhat more accurate than LQ. Further it is possible to automatize the LQ design as well as it is possible for SDRE. of a tilt-rotor vertical-takeo-and-landing unmanned aerial vehicle (UAV) is studied. The contributions of this paper are listed as follows: Proposes a new agent-based autonomous ight control (AFC) architecture of UAV systems. The agent autonomously controls the UAV in an indoor envi-ronment and performs complex search and survey mis-sions. LQ and SDRE show equal performance during both looping and more complicated maneuvers, such as high angle of attack wind-vector roll. system and using the robot operating system (ROS). Also another nonlinear control method is tested. This is especially true for small-size mini UAV systems where majority of systems are still deployed as prototypes due to their lack of reliability. There continues to be a growing demand for reliable and low cost UAV systems. Key to the realization of these scalability benefits is minimally-encumbered access to the National Airspace System (NAS), which poses some unique challenges for self-piloted UAS aircraft operations. The nonlinear method, State Dependent Riccati Equation (SDRE), used in this work is a nonlinear version of classic LQ design and both are evaluated and compared for a few flying conditions. Unmanned Aerial Vehicles (UAVs) are widely used worldwide for a board range of civil and military applications. A promising concept for hybrid UAV control is to linearize the system around a finite set of trim-points (see Section 4) in the flight envelope and design a specifically tuned controller for each of them. multi-vehicle mission management and relinquishing to autonomous systems their active role in controlling the aircrafts’ flight paths. The later objective is of great importance since there exists, in the industry, an ambition to automatize the design for as far extend as possible. The overall objective with this paper is to evaluate a method for designing nonlinear controllers in aircrafts with concern in robustness against modeling insecurities and also to minimize the design effort.
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