Lateral stability augmentation system for Micro air Vehicle - Towards autonomous flight
The discrete-time optimal projection equations, which constitute necessary conditions for optimal reducedorder LQG compensation, are strengthened. For the class of minimal stabilizing compensators the strengthened discrete-time optimal projection equations are proved to be equivalent tofirst-order necessary optimality conditionsfor optimal reduced-order LQG compensation. The conventional discrete-time optimal projection equations are proved to be weaker. As a result solutions of the conventional discrete-time optimal projection equations may not correspond to optimal reduced-order compensators. Through numerical examples it is demonstrated that, in fact, many solutions exist that do not correspond to optimal reduced-order compensators. To compute optimal reduced-order compensators two new algorithms are proposed. One is a homotopy algorithm and one is based on iteration ot the strengthened discrete-time optimal projection equations. The latter algorithm is a generalization of the algorithm that solves the tlVo Riccati equations offidl-order LQG cOllfrol through iteration and therefore is highly efficient. Using diflerent initializations ot the iterative algorithm it is demonstrated that the reduced-order optimal LQG compensation problem, in general. may possess multiple extrema. Through two computer experiments it is demonstrated that the homotopy algorithm often, but /lot alll'ays,fi/lds the global minimum.