Robust Guarantee Control for 3DOF Helicopters Based on Multiple-Model Switching

This paper tackles the robust guarantee control problem for three degree-of-freedom (3DOF) helicopter. The 3DOF helicopter system is a typical multiple-input multiple-output (MIMO) system with strong nonlinearity. Based on H2 robust control theory, H∞ robust control theory and the stability theory of switching system, a robust guarantee multiple-model switching control is proposed in this paper, which can inhibit the switching jitter effectively. By means of introducing PI control ideas, the elevation angle and travel angle can be traced with less difference. And the designed controller can be transformed to linear matrix inequalities (LMIs) that can be solved easily. The proposed method is also applied to the 3DOF helicopter model for simulation, and simulation results demonstrate the effectiveness of the proposed robust guarantee control strategy.

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