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Robust fixed-order $H_2$ controller for micro air vehicle-design and validation

Meenakshi, M and Bhat, Seetharama M (2006) Robust fixed-order $H_2$ controller for micro air vehicle-design and validation. In: Optimal Control Applications and Methods, 27 (4). pp. 183-210.

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Abstract

Design and real-time validation of a robust fixed-order $H_2$ optimal controller for micro aerial vehicle,named Sarika-2, is presented. Strengthened discrete optimal projection equations, which approximate the first-order necessary optimality condition, are used for the controller design. Effect of low-frequency gust disturbance and high-frequency sensor noise is alleviated through the output sensitivity and control sensitivity minimization. The novelty of this paper is that a single robust $H_2$ controller, which is designed at the central operating point, ensures simultaneous stabilization of the radio-controlled aircraft over the entire cruise speed range of 16–26 m/s. The controller is implemented on a digital-signal-processor-based flight computer, and subsequently, it is validated through the real-time hardware-in-loop-simulation. The responses obtained from the hardware-in-loop-simulation compares well with those obtained from the off-line simulation.

Item Type: Journal Article
Additional Information: Copyright of this article belongs to Wiley InterScience.
Keywords: H2 optimal control; Flight control system; Micro air vehicle
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 10 Jan 2007
Last Modified: 19 Sep 2010 04:31
URI: http://eprints.iisc.ernet.in/id/eprint/8633

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