Real-Time Fixed-Order Lateral H2 Controller for Micro Air Vehicle
This paper presents the design and development of a fixed low-order, robust H2 controller for a micro air vehicle (MAV) named Sarika-2. The controller synthesis uses strengthened discrete optimal projection equations and frequency-dependent performance index to achieve robust performance and stabili...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/594086 |
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| _version_ | 1832561569511243776 |
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| author | Meenakshi M. M. Seetharama Bhat |
| author_facet | Meenakshi M. M. Seetharama Bhat |
| author_sort | Meenakshi M. |
| collection | DOAJ |
| description | This paper presents the design and development of a fixed low-order, robust H2 controller for a micro air vehicle (MAV) named Sarika-2. The controller synthesis uses strengthened discrete optimal projection equations and frequency-dependent performance index to achieve robust performance and stability. A single fixed gain low-order dynamic controller provides simultaneous stabilization, disturbance rejection, and sensor noise attenuation over the entire flight speed range of 16 m/sec to 26 m/sec. Comparative study indicates that the low-order H2-controller achieves robust performance levels similar to that of full order controller. Subsequently, the controller is implemented on a digital signal processor-based flight computer and is validated through the real time hardware in loop simulation. The responses obtained with hardware in loop simulation compares well with those obtained from the offline simulation. |
| format | Article |
| id | doaj-art-6c806e2163fb4727a0be78c15113346d |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-6c806e2163fb4727a0be78c15113346d2025-02-03T01:24:41ZengWileyJournal of Control Science and Engineering1687-52491687-52572011-01-01201110.1155/2011/594086594086Real-Time Fixed-Order Lateral H2 Controller for Micro Air VehicleMeenakshi M.0M. Seetharama Bhat1Department of Instrumentation Technology, Dr. Ambedkar Institute of Technology (AIT), Bangalore 560056, IndiaDepartment of Aerospace Engineering, Indian Institute of Science, Bangalore 560012, IndiaThis paper presents the design and development of a fixed low-order, robust H2 controller for a micro air vehicle (MAV) named Sarika-2. The controller synthesis uses strengthened discrete optimal projection equations and frequency-dependent performance index to achieve robust performance and stability. A single fixed gain low-order dynamic controller provides simultaneous stabilization, disturbance rejection, and sensor noise attenuation over the entire flight speed range of 16 m/sec to 26 m/sec. Comparative study indicates that the low-order H2-controller achieves robust performance levels similar to that of full order controller. Subsequently, the controller is implemented on a digital signal processor-based flight computer and is validated through the real time hardware in loop simulation. The responses obtained with hardware in loop simulation compares well with those obtained from the offline simulation.http://dx.doi.org/10.1155/2011/594086 |
| spellingShingle | Meenakshi M. M. Seetharama Bhat Real-Time Fixed-Order Lateral H2 Controller for Micro Air Vehicle Journal of Control Science and Engineering |
| title | Real-Time Fixed-Order Lateral H2 Controller for Micro Air Vehicle |
| title_full | Real-Time Fixed-Order Lateral H2 Controller for Micro Air Vehicle |
| title_fullStr | Real-Time Fixed-Order Lateral H2 Controller for Micro Air Vehicle |
| title_full_unstemmed | Real-Time Fixed-Order Lateral H2 Controller for Micro Air Vehicle |
| title_short | Real-Time Fixed-Order Lateral H2 Controller for Micro Air Vehicle |
| title_sort | real time fixed order lateral h2 controller for micro air vehicle |
| url | http://dx.doi.org/10.1155/2011/594086 |
| work_keys_str_mv | AT meenakshim realtimefixedorderlateralh2controllerformicroairvehicle AT mseetharamabhat realtimefixedorderlateralh2controllerformicroairvehicle |