Peterson, Joseph Scott, Design Study of an Autonomous Unmanned Air Vehicle Controller. (Under the direction of Dr. Charles Hall) The purpose of this document is to both quantitatively and qualitatively compare three varying approaches to control of unmanned air vehicles: dynamic inversion, classical gain scheduling, and robust gain scheduling through H? synthesis. The quantitative comparisons include robust performance and robust stability measures of the aircraft and controller linearized about a trim operating point. A second study will look at the time response of the system with varying perturbation to the nominal plant dynamics. The qualitative analysis looks at the complexity of the controller and time required to implement, this included comparison of iterative solving methods for system gains both in the frequency and time domains. A full nonlinear form of the dynamic inversion controller was implemented with full non-linear simulation in Simulink and shows comparable results to the linearized studies. The results have shown that a dual loop controller with a dynamic inversion inner loop and H? outer loop has the largest robust performance over the flight envelope but one of the more advanced forms of control for implementation.
| Identifer | oai:union.ndltd.org:NCSU/oai:NCSU:etd-11302005-102837 |
| Date | 06 December 2005 |
| Creators | Peterson, Joseph Scott |
| Contributors | Dr. Sharon Lubkin, Dr. Fen Wu, Dr. Charles Hall |
| Publisher | NCSU |
| Source Sets | North Carolina State University |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://www.lib.ncsu.edu/theses/available/etd-11302005-102837/ |
| Rights | unrestricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to NC State University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
Page generated in 0.0195 seconds