An LQG Approach to the Control of Unmanned Wing-In-Ground Vehicle

In this paper, we propose a Linear Quadratic Gaussian (LQG) approach to control an unmanned Wing-In-Ground (WIG) vehicle. We use a nonlinear and nonstationary state-space six degrees of freedom (6 DOF) model, obtained by system identification, around the trimmed operating point. Implementing the proposed control strategy includes defining the desired trajectory of motion, linearizing the model around the trim operating point, and computing adequate controller gains. The feasibility of implementing the proposed approach has been demonstrated through system behavior simulations in various conditions using Matlab and Simulink.