|Design and Experimental Validation of a Robust Output Feedback Control for the Coupled Dynamics of a Micro Air Vehicle
K. Harikumar*, Sidhant Dhall, and M. Seetharama Bhat
International Journal of Control, Automation, and Systems, vol. 17, no. 1, pp.155-167, 2019
Abstract : "This paper addresses the design and experimental validation of a linear robust static output feedback
controller for a 150 mm span fixed wing micro air vehicle (MAV). Severe coupling between longitudinal and lateral
dynamics of the MAV lead to the design of a multivariable controller for the combined dynamics. The control
design problem is posed in the framework of static output feedback (SOF) due to the inexpensive computational requirements
for implementation. The multiobjective control design problem including stability requirements, closed
loop damping ratio requirements and H∞ norm minimization is solved using the hybrid technique of linear matrix
inequalities (LMI) and genetic algorithm (GA). The design is carried out in the discrete time domain, facilitating
in direct implementation of the multivariable controller in the onboard autopilot hardware. The robustness of the
resulting closed loop system under parametric uncertainties is evaluated using structured singular value analysis.
The effectiveness of the proposed controller is demonstrated through outdoor flight trial of the micro air vehicle
with a customized lightweight autopilot hardware."
Coupled dynamics, flight testing, genetic algorithm, H∞ control, linear matrix inequalities, micro air vehicle, robustness, static output feedback.
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