Adaptive Robust Control Techniques Applied to the Yaw Control of a Small-scale Helicopter

This paper presents a new robust controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The yaw dynamic system is linearized into a linear system, which is modelled by an affine uncertainty model. We proposed a novel robust Hinfin feedback controller with adaptive mechanisms for the linear system with guaranteed control performances. The feedback gains are obtained by the solutions of a series of linear matrix inequalities (LMIs). The design approach reduces conservatism inherent in robust control with a fixed gain controller and improves performances in time-response. Numerical simulations illustrate the theoretical results

[1]  Ian Postlethwaite,et al.  Design and flight testing of various H controllers for the Bell 205 helicopter , 2005 .

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

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

[4]  Takeo Kanade,et al.  System identification of small-size unmanned helicopter dynamics , 1999 .

[5]  Tetsuya Iwasaki,et al.  All controllers for the general H∞ control problem: LMI existence conditions and state space formulas , 1994, Autom..

[6]  Matthew C. Turner,et al.  Design and ground-based simulation of an H∞ limited authority flight control system for the Westland Lynx Helicopter , 2001 .

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

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

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

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

[11]  Ciann-Dong Yang,et al.  Taguchi-genetic-algorithm in helicopter H∞ control design with robust flying quality , 2003 .

[12]  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).