Phase 0 Control Experiment #1 20 Steady-State Tracking Extremely Accurate Position Outside The Vortex Demonstrated Winter 2001) Experiment: Dial In-75/-75 ft Translations, AFF Flight 715-February 21, 2001 2-Minute Tracking Task High Performance Gainst 20 Relative Lateral Position Error(fit) integrator was larger overshoots for this gainset than for the others. However, performance and stability were still well within the acceptable region for these gaffe in undesired side-effect of the e additional feedback of the integral of the position emor in the INTEGRAL gainst was very successful at elimina The HIGH PERFORMANcE gainst exhibited extremely good disturbance rejection capability. Position errors during steady-state tracking with these gains were approximately 1 foot both laterallyPhase 0 Control Experiment #1 Steady-State Tracking Phase 0 Control Experiment #1 Steady-State Tracking AFF Flight 715 - February 21, 2001 2-Minute Tracking Task High Performance Gainset 20 15 Relative Lateral Position Error (ft) Relative Vertical Position Error (ft) 010 5 -20 -15 -10 -5 -20 20 -15 -10 -5 0 5 10 15 Extremely Accurate Position Outside The Vortex Demonstrated (Winter 2001). (Experiment: Dial In –75/-75 ft Translations) Extremely Accurate Position Outside The Vortex Demonstrated (Winter 2001). (Experiment: Dial In –75/-75 ft Translations) Page 6 Autonomous Formation Flight Program NAS4-00041 TO-104 20 15 Relative Lateral Position Error (ft) Relative Vertical Position Error (ft) 010 5 -20 -15 -10 -5 -20 20 -15 -10 -5 0 5 10 15 AFF Flight 714 - February 21, 2001 2-Minute Tracking Task Integral Gainset The additional feedback of the integral of the position error in the INTEGRAL gainset was very successful at eliminating any steady-state offsets in position error. An undesired side-effect of the integrator was larger overshoots for this gainset than for the others. However, performance and stability were still well within the acceptable region for these gains. The HIGH PERFORMANCE gainset exhibited extremely good disturbance rejection capability. Position errors during steady-state tracking with these gains were approximately 1 foot both laterally and vertically