An Adaptive Robust Guaranteed Cost Controller Design and Its Application to the Yaw Control of Helicopter

This paper discusses the adaptive robust guaranteed cost tracking control problem of linear systems, with time-varying uncertainties. The bounds of varying uncertainty ellipsoidal are obtained by set membership identification method. The proposed adaptive robust controller consists of a constant gain determined by the nominal system and a variable gain tuned by the designed adaptive laws. The application of this approach to the yaw control of a small-scale helicopter mounted on an experiment platform shows the effectiveness

[1]  H. Shim,et al.  A comprehensive study of control design for an autonomous helicopter , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[2]  Y. F. Huang,et al.  On the value of information in system identification - Bounded noise case , 1982, Autom..

[3]  Jianda Han,et al.  Yaw Control of Small-scale Helicopter with Time-varying Uncertainty: an Adaptive Robust H2 Control Approach , 2007, 2007 American Control Conference.

[4]  Rita Cunha,et al.  DYNAMIC MODELING AND STABILITY ANALYSIS OF MODEL-SCALE HELICOPTERS WITH BELL-HILLER STABILIZING BAR , 2003 .

[5]  Marc D. Takahashi.  Helicopter flight-control design using an H(2) method , 1991 .

[6]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[7]  Li Yu,et al.  An LMI approach to guaranteed cost control of linear uncertain time-delay systems , 1999, Autom..

[8]  I. Postlethwaite,et al.  Advanced helicopter flight control using two-degree-of-freedom H(infinity) optimization , 1996 .

[9]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[10]  D. McFarlane,et al.  Optimal guaranteed cost control and filtering for uncertain linear systems , 1994, IEEE Trans. Autom. Control..

[11]  Anuradha M. Annaswamy,et al.  Robust Adaptive Control , 1984, 1984 American Control Conference.

[12]  S. Shankar Sastry,et al.  A flight control system for aerial robots: algorithms and experiments , 2002 .

[13]  Kenzo Nonami,et al.  Model-based optimal attitude and positioning control of small-scale unmanned helicopter , 2005, Robotica.

[14]  Samir Bennani,et al.  Linear and Parameter-dependent Robust Control Techniques applied to a Helicopter UAV , 2004 .

[15]  Guangjun Liu,et al.  Adaptive Robust Control Techniques Applied to the Yaw Control of a Small-scale Helicopter , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Eric Walter,et al.  Ellipsoidal parameter or state estimation under model uncertainty , 2004, Autom..