1

EML 5311 - Spring 2009

University of Florida
Mechanical & Aerospace Engineering
Final Project
Due 4/22/09
I. PROBLEM OVERVIEW
You must design a PID and LQR controller for an Osprey UAV as shown in the image below.
II. DYNAMIC MODEL
The dynamics associated with the Osprey under standard aircraft assumptions have been de-coupled into both lateral and longitudinal
directions. For the sake of this control design, we will only be analyzing the longitudinal dynamics. The dynamics have been linearized
for the Osprey aircraft ying at 25 :,: at an altitude of 60 : in [1]. In standard state-space form they are as follows.
=
_

_
0.1470 11.0767 0.0841 9.8065
0.0316 7.1712 0.8281 0
0 37.3527 9.9628 0
0 0 1 0
_

_
, 1 =
_

_
3 10
3
0.06
10
5
10
4
0.98 0
0 0
_

_
, C =
_
1 0 0 0
0 0 1 0
_
where
r =
_
\ c 0

with the state variables dened as

\ = velocity
c = angle of attack
= pitch rate
0 = pitch angle
and the control inputs are
n =
_
c
elev
c
thrust

T
.
2
III. CONTROL OBJECTIVES
Design a single controller that yields the following desired criteria over the widest possible initial conditions.
1) Stabilize the system with a velocity step input of 10 :,:.
2) Minimize rise time, % overshoot, and steady state error.
3) Actuator limits and sensor noise:
The maximum c
thrust
is 200 and 200 ,:cc
The maximum c
elev
is .30

and 300

,:
The noise for the velocity sensor is 0.4 :,:
The noise for the pitch rate sensor is 1.7

,:
IV. EXPECTATIONS
1) Perform 3 control designs
a PID controller
a LQR controller (full state feedback, hence C = 1
4x4
)
a LQR controller plus observer (with C dened as in the dynamic model section)
2) Prepare a Report: As the control design engineer, you must prove to the management that your controller will work as desired,
or why the stated criteria can not be met. To this end, a signicant portion of the grade relies on your ability to effectively
communicate your results to the management. As a manager I need ALL the details to make an informed decision, but I also
need to look at the answers quickly and get the "snapshot answer" in minutes. Your report should discuss and compare the
results from the controllers. Discuss the performance for different initial conditions, with the noise effects, and (as a third case)
model error (i.e., parameters in and 1 are not precise). Evaluate gain and phase margins and discuss the sensitivity and
complimentary sensitivity.
REFERENCES
[1] W. MacKunis, M. K. Kaiser, P. M. Patre, and W. E. Dixon, Asymptotic tracking for aircraft via an uncertain dynamic inversion method, in American
Control Conf., Seattle, WA, June 2008, pp. 34823487.