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Robust flight stability and control for micro air vehicles.

Meenakshi, M and Bhat, MSeetharama (2007) Robust flight stability and control for micro air vehicles. In: 3rd International Conference on Autonomous Robots and Agents, DEC 11-14, 2006, Massey Univ.

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Abstract

This chapter presents the real time validation of fixed order robust 112 controller designed for the lateral stabilisation of a micro air vehicle named Sarika2. Digital signal processor (DSP) based onboard computer named flight instrumentation controller (FIC) is designed to operate under automatic or manual mode. FIC gathers data from multitude of sensors and is capable of closed loop control to enable autonomous flight. Fixed order lateral H-2 controller designed with the features such as incorporation of level I flying qualities, gust alleviation and noise rejection is coded on to the FIC. Challenging real time hardware in loop simulation (HILS) is done with dSPACE1104 RTI/RTW. Responses obtained from the HILS are compared with those obtained from the offline simulation. Finally, flight trials are conducted to demonstrate the satisfactory performance of the closed loop system. The generic design methodology developed is applicable to all classes of Mini and Micro air vehicles.

Item Type: Conference Paper
Additional Information: Copyright of this article belongs to Springer.
Keywords: Micro air vehicle, robust controller, flight instrumentation controller, hardware in loop simulation, autonomous flight.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 19 May 2010 07:12
Last Modified: 19 Sep 2010 06:00
URI: http://eprints.iisc.ernet.in/id/eprint/27158

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