Evaluación de las Técnicas de Control Óptimo LQR y LQG Aplicado al Diseño del Sistema de Control de Estabilidad de Vuelo de un Vehículo Aéreo de Vigilancia.

Abstract

EVALUATION OF OPTIMUM CONTROL TECHNIQUES APPLIED LQR and LQG DESIGN SYSTEM STABILITY CONTROL AIR FLIGHT OF A VEHICLE SURVEILLANCE Evaluate techniques LQR and LQG optimal control applied to the design of the control system of flight stability of an aerial surveillance vehicle Has been performed to study techniques optimal control LQR and LQG implemented on a mathematical model of an air vehicle surveillance comparing these types of controls with a classic control such as PID control to determine a which form these show the best stability control. For which conducted the study of the closest to reality, to continue the linearization of the system mathematical model as the optimal controls are mounted on linear systems finding for this the linearized system in an operating point, I was calculated gain matrices K for both control and LQR gain matrix of the Kalman filter K for the LQG. Resulting in a much higher stability with the classic PID controlled for reasons of better response times in the case of external disturbances such as wind, rain, etc. Realizing all such calculations proceeded to build the drone purchasing a commercial housing and working with a motherboard. This verified that being mounted on linear controls not a nonlinear model of the desired acceptable stability as they need drones values ​​was obtained. It can be concluded that the obstacle of optimal control LQR and LQG can only be installed in linear systems, without disturbance or external agents that directly affect the project.