Yaw Control of RUAVs :an Adaptive Robust H∞ Control Method

The problem of robust H∞ tracking control is considered for a class of linear system with time-varying uncertainties. The bounds of varying uncertainty ellipsoidal are obtained by set membership identification method. Using adaptive method, a new variable gain controller is designed to compensate the effect of uncertainty on systems. Then an application of this result to rotorcraft-based unmanned Aerial Vehicles (RUAVs) mounted on an experiment platform has demonstrated the effectiveness of the proposed method.

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