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Fixed Order Robust H2 – Longitudinal Stability Augmentation for Micro Air Vehicle – Flight Validations

M. Meenakshi, M. Seetharama Bhat


This paper presents the design and development of fixed order robust H2 longitudinal stability augmentation system for a micro air vehicle (MAV) named Sarika-1. The controller design 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 15 m/s to 26 m/s. 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 nonlinear simulation. Finally the efficacy of the proposed algorithm is validated through real flight trials. The analysis of real time flight data compares well with those of offline and hardware in loop simulation results.


Micro Air Vehicle, Robust, SDOPEs, Flight Trials, HILS

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