In this thesis, a landing autopilot for an UAV (IAI Pioneer RQ-2) is designed
based on a nonlinear MATLAB model implemented with MATLAB/Simulink. In
order to control the movement of the UAV at lateral and longitudinal axes, a
speed, an altitude, a heading angle (direction) and a yaw rate controllers are
designed. Controller design procedure is started with determination of different
trim points of the aircraft. Next, the corresponding initial states and initial
inputs are obtained. The model is linearized about those trim points and the
gain values are determined. The resultant gain scheduled controller is used on
the non-linear model.
The response of the aircraft to these controllers is tested in a constrained
landing area that is constructed with respect to applicable aviation regulations.
The aircraft position is investigated whether it is inside or outside of this safe
landing area. If it is inside, an optimized landing path set is obtained. The
steepest descent method is used for multidimensional search and parabolic fit
method is used for one dimensional search (as line search) in the optimization
phase.
In case it is outside the defined landing area a special algorithm which takes
the aircraft into the desired region is applied. In addition, the area is allowed to
move as much as possible depending on the situation with special regards to
the length of the runway. Also a lateral position controller is designed in order
to provide the reach of the aircraft to the main landing path.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12613049/index.pdf |
| Date | 01 February 2011 |
| Creators | Hankoylu, Merve |
| Contributors | Leblebicioglu, Kemal |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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