Autonomous Robots and Agents

Volume 76 of the series Studies in Computational Intelligence pp 153-162

Robust Flight Stability and Control for Micro Air Vehicles

  • M. MeenakshiAffiliated withDept. of Aerospace Engineering, Indian Institute of Science
  • , M. Seetharama BhatAffiliated withDept. of Aerospace Engineering, Indian Institute of Science

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This chapter presents the real time validation of fixed order robust H2 controller designed for the lateral stabilisation of a micro air vehicle named Sarika2. Digital signal processor (DSP) based onboard computer named flight instrumentation controller (FIC) is designed to operate under automatic or manual mode. FIC gathers data from multitude of sensors and is capable of closed loop control to enable autonomous flight. Fixed order lateral H2 controller designed with the features such as incorporation of level 1 flying qualities, gust alleviation and noise rejection is coded on to the FIC. Challenging real time hardware in loop simulation (HILS) is done with dSPACE1104 RTI/RTW. Responses obtained from the HILS are compared with those obtained from the offline simulation. Finally, flight trials are conducted to demonstrate the satisfactory performance of the closed loop system. The generic design methodology developed is applicable to all classes of Mini and Micro air vehicles.