Modelling and fixed order robust H∞ control of aerial vehicle: Simulation and experimental results

Purpose – The purpose of this paper is to model a 3DOF helicopter system and to design an adequate robust controller algorithm. This study presents an improved real time H ∞ controller. Design/methodology/approach – The challenge is to control the helicopter dynamics. Given that, disturbance and parametric uncertainties make classical control structure, as PID controller, usually not effective to stabilize this system. On the other hand, robust control is often known by its higher order. Consequently, a fixed-order control design is proposed to reduce the complexity of the standard H ∞ structure. A real time controller is implemented and performed. Findings – A comparative study between a classical PID and fixed-order H ∞ controllers are performed. Simulation and experiment results confirm the capability of this proposed control strategy not only to maintain the system stability in nominal condition but also to counteract the disturbance effect. Research limitations/implications – In prospect, it will be ...

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