The design of a control system using the linear-quadratic regulator (LQR) control law theory for time invariant systems in conjunction with an incremental gradient procedure is presented. The incremental gradient technique reduces the full-state feedback controller design, generated by the LQR algorithm, to a realizable design. With a realizable controller, the feedback gains are based only on the available system outputs instead of being based on the full-state outputs. The design is for a remotely piloted research vehicle (RPRV) stability augmentation system. The design includes methods for accounting for noisy measurements, discrete controls with zero-order-hold outputs, and computational delay errors. Results from simulation studies of the response of the RPRV to a step in the elevator and frequency analysis techniques are included to illustrate these abnormalities and their influence on the controller design.


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    Title :

    Realizable Optimal Control for a Remotely Piloted Research Vehicle


    Contributors:
    H. J. Dunn (author)

    Publication date :

    1980


    Size :

    35 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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