AnAdaptive RobustGuaranteed CostController Design andIts Application totheYawControl ofHelicopter

Thispaperdiscusses theadaptive robust determined based onthese estimates. guaranteed cost tracking control problem oflinear systems. Recently, theauthor ofthis paperpresented anadaptive withtime-varying uncertainties. Theboundsofvaryingrobust HELtracking control methodforthehelicopter control uncertainty ellipsoidal areobtained bysetmembershipwithtime-invariant uncertainty (11). Using adaptive method, a identification method.The proposed adaptive robust variable gaincontroller isdesigned toreduce conservatism controller consists ofaconstant gaindetermined bythe inherent infixed gains. Then, in(12), time-varying ellipsoidal nominal system andavariable gaintunedbythedesigneduncertainty obtained bysetmembership identification method adaptive laws.Theapplication ofthis approach totheyaw isconsidered inadaptive robust H2 tracking control. To control of a small-scale helicopter mountedon an guarantee theasymptotic stability andH2performance of experiment platform showstheeffectiveness closed-loop system, anadjustable target modelisintroduced. Index Terms -Helicopter, Guaranteed Cost Control, Robust Basedontheerror equation between state modelandadjustable Control, Adaptive Control target model anuncertainty parameters adaptive lawisobtained ' o~~~~~ropose anadaptive robust guaranteed cost tracking controller should bedesigned torobust tothose effects andadvancedwithsimpler structure than(12)forlinear systems with control strategies needtobeusedinorder foraRUAV tofly autonomously (3-4). Thesystem understudy isasmall-scale time-varying uncertainty. The time-varying ellipsoidal helicopter, whichshares mostoftheproperties ofa real uncertainty obtained bysetmembership identification method helicopter. The c pated dynamics *o heri op t (13). Herewe combine robust control andadaptive control to helicopter. The complicated dynamics Ofhelicopter , raieteridvda datgs h rpsdcnrle