RPV/Self-Organizing Control Demonstration System. Volume II. Hardware Description, System Operation and Maintenance, and RPV Simulation

Self-organizing control is a form of adaptive control in which the controller uses an incremental model of the plant and identifies parameters in this model by means of calculations based upon recent-term plant excitation and response histories. This report (in two volumes) presents the theoretical derivation of refinements in self-organizing control techniques yielding substantial reduction of sampling rates of self-organizing controllers and identification of magnitudes as well as polarities of plant gain parameters. Additionally, this report describes the implementation of self-organizing controller logic in the form of breadboard digital hardware, the equations and programs for a PDP-12 computer real-time simulation of remotely piloted vehicle flight with 6 degrees of freedom (without limitation to small aerodynamic angles), and design of a demonstration system. (Modified author abstract)