Real-time fixed-order lateral \(H_2\) controller for micro air vehicle (Q763137)

Summary: This paper presents the design and development of a fixed low-order, robust \(H_{2}\) controller for a Micro Air Vehicle (MAV) named Sarika-2. The controller synthesis 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 16 m/sec to 26 m/sec. Comparative study indicates that the low-order \(H_{2}\)-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 compare well with those obtained from the offline simulation.