Research on Water Control of Aquatic UAV Based on RSLQR

In this paper, a robust servo LQR method is proposed to solve the research problem of water landing control of aquatic UAV. Taking the pitch Angle control mode in longitudinal motion as an example, RSLQR is used to design the longitudinal motion controller of aquatic UAV. The controller adopts double loop control structure of pitch Angle rate feedback as inner loop and pitch Angle feedback as outer loop to control pitch Angle loop. A robust servo LQR optimal control method is used to design the control law for pitch rate loop, and the correctness of the control law is verified by nonlinear simulation. The simulation results show that the designed longitudinal channel controller can accurately track the designed water landing track, and the robust servo LQR control can well suppress the response characteristics of elevator Angle mutation at the initial response stage, which can ensure that the aquatic UAV meets the safe water conditions, and has engineering application value.