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首页> 外文期刊>The Aeronautical Journal >A linear-quadratic-Gaussian approach for automatic flight control of fixed-wing unmanned air vehicles
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A linear-quadratic-Gaussian approach for automatic flight control of fixed-wing unmanned air vehicles

机译：用于固定翼无人飞行器自动飞行控制的线性二次高斯方法

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This paper presents the design and implementation of automatic flight controllers for a fixed-wing unmanned air vehicle (UAV) by using a linear-quadratic-Gaussian (LQG) control approach. The LQG design is able to retain the guaranteed closed-loop stability of the linear-quadratic regulator (LQR) while having incomplete state measurement. Instead of feeding back the actual states to form the control law, the estimated states provided by a separately designed optimal observer, i.e. the Kalman filter are used. The automatic flight controllers that include outer-loop controls are constructed based on two independent LQG regulators which govern the longitudinal and lateral dynamics of the UAV respectively. The resulting controllers are structurally simple and thus efficient enough to be easily realized with limited onboard computing resource. In this paper, the design of the LQG controllers is described while the navigation and guidance algorithm based on Global Positioning System (GPS) data is also outlined. In order to validate the performance of the automatic flight control system, a series of flight tests have been conducted. Significant results are presented and discussed in detail. Overall, the flight-test results show that it is highly feasible and effective to apply the computationally efficient LQG controllers on a fixed-wing UAV system with a relatively simple onboard system. On the other hand, a fully automatic 44km cross-sea flight demonstration was successfully conducted using the LQG-based flight controllers. Detailed description regarding the event and some significant flight data are given.
机译：本文介绍了使用线性二次高斯（LQG）控制方法的固定翼无人飞行器（UAV）自动飞行控制器的设计和实现。 LQG设计能够保持线性二次调节器（LQR）的有保证的闭环稳定性，同时具有不完整的状态测量功能。代替反馈实际状态以形成控制定律，而是使用由单独设计的最佳观察者即卡尔曼滤波器提供的估计状态。包含外环控制的自动飞行控制器是基于两个独立的LQG调节器构建的，它们分别控制无人机的纵向和横向动力学。所得的控制器在结构上很简单，因此效率很高，足以在有限的机载计算资源下轻松实现。本文描述了LQG控制器的设计，同时概述了基于全球定位系统（GPS）数据的导航和制导算法。为了验证自动飞行控制系统的性能，已进行了一系列飞行测试。重大成果已详细介绍和讨论。总体而言，飞行测试结果表明，将计算效率高的LQG控制器应用于具有相对简单的机载系统的固定翼无人机系统是高度可行和有效的。另一方面，使用基于LQG的飞行控制器成功进行了44公里的全自动跨海飞行演示。给出了有关事件的详细说明和一些重要的飞行数据。

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