Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/143485
Title: Design and experimental validation of a robust output feedback control for the coupled dynamics of a micro air vehicle
Authors: Harikumar, Kandath.
Dhall, Sidhant
Bhat, Seetharama
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2019
Source: Harikumar, K., Dhall, S. & Bhat, S. (2019). Design and experimental validation of a robust output feedback control for the coupled dynamics of a micro air vehicle. International Journal of Control, Automation and Systems, 17(1), 155–167. doi:10.1007/s12555-017-0799-2
Journal: International Journal of Control, Automation and Systems
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.
URI: https://hdl.handle.net/10356/143485
ISSN: 1598-6446
DOI: 10.1007/s12555-017-0799-2
Schools: School of Electrical and Electronic Engineering 
Rights: © 2019 ICROS, KIEE and Springer. All rights reserved. This paper was published by Springer in International Journal of Control, Automation and Systems and is made available with permission of ICROS, KIEE and Springer.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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