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dc.contributor.authorHarikumar, Kandath.en_US
dc.contributor.authorDhall, Sidhanten_US
dc.contributor.authorBhat, Seetharamaen_US
dc.identifier.citationHarikumar, 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/s12555-017-0799-2en_US
dc.description.abstractThis 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.en_US
dc.relation.ispartofInternational Journal of Control, Automation and Systemsen_US
dc.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.en_US
dc.subjectEngineering::Electrical and electronic engineeringen_US
dc.titleDesign and experimental validation of a robust output feedback control for the coupled dynamics of a micro air vehicleen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsCoupled Dynamicsen_US
dc.subject.keywordsFlight Testingen_US
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