A Robust Longitudinal Landing Controller to Datalink Time Delay

데이터링크 시간지연에 강건한 종운동 착률제어기 설계

  • 이상효 (서울대학교 기계항공공학부) ;
  • 이인석 (한국기술교육대학교 메카트로닉스공학부) ;
  • 기창돈 (서울대학교 기계항공공학부) ;
  • 구훤준 (국방과학연구소)
  • Published : 2009.01.01


This paper deals with designing a ground-based longitudinal landing controller which is robust to datalink time delays. Time delays occur because forward velocity measurements are downlinked and the controller output commands are uplinked. An $H_{\infty}$ controller was designed by using the input/output decomposition where time delay is modeled as a first-order system with Pade approximation. Linear simulations show that the system tracks well the predefined path and is robust to the variation of time delay.


  1. Rhee and J.L.Speyer, "ApplicationofaGameTheoreticControllertoaBenchmark Problem," Journal of Guidance, Control and Dynamics, vol. 15, no.5,pp.1076 1081, 1992
  2. M.Tahk and J.L.Speyer, "ModelingofParameterVariationsandAsymptoticLQG Synthesis," IEEE Trans. on Automatic Control, vol. ac-32, no. 9, pp. 793-801,1987
  3. K. Zhow, J. Doyle, and K. Glover, Robust and Optimal Control, Prentice Hall,1996.
  4. A. E. Bryson Jr.,Control of SpacecraftandAircraft,Hemisphere,NewYork,1995
  5. H.Koo,"TheComparisonofAnalyticaResultswithFlightTestofAlgorithmPerformanceforUAV'sAutopilot and OperationLogic,"ASDC501971207,Agencyfor Defence Development, 1997