Consider a fixed-wing UAS configuration. Please develop the design and verification process as follows:
- Write down the dynamic equations, based on Fig. 4. Assume that the UAS is symmetric along the xz plane (Ixy = Iyz = 0), and ensure the answers are expressed in terms of forces, moments, velocities, angular velocities, mass and moments of inertia. [5 marks]
- Write down the kinematic equations, based on Fig. 3. Ensure the answers are expressed in terms of Euler angles, velocities, and angular velocities. [5 marks]
- UselinearizedforcestoestimateX,Y,Z,L,M,N,withtheinputsδe,δp,δa,δr (hint: consider aerodynamic derivatives and their equivalent for the control variables). [5 marks]
- Express the linearized system (longitudinal and lateral) based on Fig. 6. Start from equations presented in the lecture notes. You may assume that all aerodynamic higher-order derivatives are zero except for Mw ̇ and Zw ̇ . [10 marks]
- Draw a control design diagram (using PID control) for an altitude hold autopilot, based on the longitudinal system. [5 marks]
- Draw a control design diagram (using PID control) for a level coordi- nated turn autopilot, based on the lateral system. [5 marks]
- Draw a simulation diagram where the previously designed control struc- ture is implemented on a nonlinear dynamics model, developed in steps 1-3. [5 marks]
- Consider the nonlinear model defined in steps 1-3, and the linearized model developed in step 4. For each model, provide one reason why the model can be useful in simulation, design or testing of controllers. [5 marks]
 Add your own comments detailing any additional design/simulation
considerations that you would like to investigate. [5 marks]
The process shall be presented as a development ”recipe” where formulas, equations are specified, and serves as an almost programmable design sheet that the designer can follow to conduct the investigation.
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