Multiple-model weighted control for helicopter based on H2/H

The three degree-of-freedom (3-DOF) laboratory helicopter is a typical multiple-input multiple-output system with high order, which has stronger channel coupling and higher non-linearity. The proposed controller is a combination of H2 control, H∞ control and multiple-model weighted control. The controller can be used to minimize the H2 performance index under the condition that H∞ performance index is smaller than a certain constant. In addition, the weights of multiple controllers in the multiple-model control can be adjusted in the real time in flight. In this way, not only can the whole system obtain the compromise between system performance and robust properties, but also the control precision and approximating precision are improved. Experimental results demonstrate the effectiveness of the proposed control strategy.