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Robust fixed‐order H 2 controller for micro air vehicle—design and validation
Author(s) -
Meenakshi M.,
Seetharama Bhat M.
Publication year - 2006
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.774
Subject(s) - control theory (sociology) , controller (irrigation) , sensitivity (control systems) , optimal projection equations , noise (video) , computer science , range (aeronautics) , control engineering , engineering , electronic engineering , linear quadratic gaussian control , control (management) , artificial intelligence , aerospace engineering , agronomy , image (mathematics) , biology
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. Copyright © 2006 John Wiley & Sons, Ltd.