Project and Design of Multi-Rate Loop Controllers for Fixed-Wings Aircrafts

This work aims to show kinematics and dynamics modelling of a fixed-wing UAV type, as well as Proportional and Proportional, Integral and Derivative controllers for multirate cascade control loop, one internal for angular attitude and another external for the inertial position. The control loops are designed for roll, pitch, yaw, altitude and linear velocity in forwarding and backward aircraft nose direction. These dynamics are controlled by the integration of loops in different levels using the Successive Loop Closure technique. The results were satisfactory, considering that the simulation tests took into account the parameters of an already developed aircraft.