Robust autopilot design of the mini RPV in parameter space

Abstract

Fixed gain pitch and roll autopilots which are robust with respect to dynamic variations resulting from changes of the steady state flight conditions are designed for a miniature remotely piloted vehicle (RPV) by using the parameter plane mapping method. Regions in the complex plane where the system poles must be located are found and then mapped onto regions in the parameter space whose axes are the controller design variables. By superimposing the parameter space regions obtained for the cruise, climb, and takeoff states, the overlapping region is found, from which the control design parameters are selected so as to locate the system poles in the desired regions for all three states simultaneously. Simulation studies of the aircraft motion with the designed autopilot system show that the aircraft behaves satisfactorily with sufficient relative stability for all states including landing.