Successive Loop Closure

Figure 14 below contains simulation data for all 12 state variables, as well as the 3 control inputs, and the propeller (throttle) control input using the successive loop closure control design method. Note that, because of the Zagi aircraft’s flying wing configuration, there is no rudder to effect the aircraft’s lateral dynamics and thus  is held at zero throughout the entirety of the simulation. The controlled variables –  – perform adequately in tracking commands throughout the simulation.

Figure 14: Successive Loop Closure Simulation Results

The design parameters (i.e. gain values) for the successive loop closure autopilots are provided in the attached report.

 

Linear Quadratic Regulator

Figure 15 below contains simulation data for all 12 state variables, as well as the 3 control inputs, and the propeller (throttle) control input using the linear quadratic regulator control design method. Note that because of the aircraft’s flying wing configuration, there is no rudder to effect the aircraft’s lateral dynamics and is thus held at zero throughout the simulation. All controlled variables –  (with the exception of ) – performed better than the successive loop closure method in tracking commands throughout the simulation.

Figure 15: Linear Quadratic Regulator Simulation Results

Design matrices for the linear quadratic regulator lateral and longitudinal autopilots are provided in the attached report.