Yaw Control of Small-scale Helicopter with Time-varying Uncertainty: an Adaptive Robust H2 Control Approach

This paper is concerned with the robust H2 tracking control problem for the yaw control of a small-scaled helicopter with time-varying uncertainty. The proposed controller incorporates an adaptation mechanism, which improves the performance of system compared with conventional robust controller with a fixed gain. Simulation results of the yaw control of a small-scaled helicopter mounted on an experiment platform have demonstrated the theoretic results.

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