| Summary: | 碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 96 === The Remotely Piloted Vehicle and Microsatellite Research Laboratory (RMRL) of National Cheng Kung University, Taiwan is currently working on the development of its latest endurance Unmanned Aerial Vehicle (UAV) system, which is designated as the Spoonbill project. The ultimate goal of the project is to develop a low cost, simple, and reliable UAV system and perform a cross-sea flight demonstration which would cover a round-trip distance of approximately 90km. The framework of this thesis embodies the fundamental efforts in terms of system development towards the realization of the project’s primary goal. In essence, this thesis may be treated in three major parts: development of the UAV system hardware and software architectures, system identification to obtain the aircraft linear state space model, and synthesis of stability augmentation autopilots based on linear quadratic Gaussian (LQG) design. In particular, subspace identification method is used to obtain an initial model which would be fed into the recursive prediction error method algorithm in order to arrive at further refined models. The LQG autopilots are synthesized by combining linear quadratic regulator and the Kalman filter. The resulting longitudinal and lateral autopilots are presented and were successfully validated in actual flight tests.
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