本論文提供一套完整設計最佳化高度追蹤控制器的方法以及實現的步驟，對於無人飛機空投、位置追蹤、監視、編隊飛行或自動降落皆能提供一個高度控制的基礎概念。本論文可分為兩大部分，分別為無人飛機縱向系統鑑別以及高度追蹤控制器設計。飛機的縱向線性模型係由一組輸入與輸出的資料藉由觀察者卡爾曼率波鑑別方法去得到線性且離散時間的狀態空間數學模型，隨之本論文即採用此數學模型進一步設計高度追蹤控器。此高度追蹤控制器可以分成以下兩個部份，內迴圈的部份，由線性二次型積分方法搭配卡爾曼濾波形成一個狀態回授的最佳化追蹤器去控制升降舵，並配合定值油門的切換去追蹤無人飛機的垂直速度。外迴圈的部分，利用比例控制器並結合簡單的增益值排定方法給予適當的控制增益即可達成高度追蹤的目標。此高度追蹤控制器已成功地在飛燕號無人飛機飛行測試中獲得驗證。

This thesis presents an optimal altitude tracking controller design procedure together with implementation steps. The altitude tracking controller is a fundamental research pertaining to the altitude control for airdrop, surveillance, and auto-landing research, etc. This thesis can be divided into two parts including aircraft system identification and altitude tracking controller design. The aircraft’s longitudinal model is derived by a set of input and output data fed into observer/Kalman filter identification (OKID) technique. Subsequently, the model is utilized to design the optimal altitude controller which can be separated into inner-loop and outer-loop control. A combination of linear quadratic integral (LQI) controller and Kalman filter in the inner-loop system are used to control the vertical velocity mainly by the elevator. For outer-loop system, it consists of a proportional controller with gain scheduling method to track the desired altitude. The altitude tracking controller is successfully validated in flight tests using the Swallow UAV system.

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