A simulation model for the design of RUAV control laws

The main scope of this paper is the formulation and implementation of a simulation environment for the design and the performance analysis of control laws for rotorcraft unmanned aerial vehicles. A nonlinear mathematical model including flap, lag, and inflow dynamics is first formulated. Then a mean-time based procedure to achieve trim and linearization is proposed. The design of a control augmentation system based on a multivariable proportional-integral action shows the effectiveness of the proposed environment. A linear matrix inequalities based technique is used to account for a family of linearized models guaranteeing model following, H-infinity performance, and pole clustering of closed loop.