Based on the inner-outer loop structure, a robust H∞ flight controller is designed for small-scale unmanned helicopters. Under the hovering flight condition, the small-scale unmanned helicopter dynamic model is linearized. External disturbances, nonlinear uncertainties, and parameter uncertainties are considered as an equivalent disturbance. The velocity and the yaw angular rate are controlled by the inner-loop robust controller, which contains two parts: a state-feedback H∞ controller and a robust compensator. The state-feedback H∞ controller is applied to stabilize the helicopter and achieve good robust properties against external disturbances. The robust compensator is used to restrain the effects of the equivalent disturbance. The outer-loop controller is designed by the proportional-integral-derivative control technique to achieve desired position and yaw angle tracking properties. Actual flight tests are conducted to check the effectiveness of the proposed robust flight controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust H∞ flight control of small-scale unmanned helicopter for WCICA 2014 proceedings published by IEEE


    Beteiligte:
    Wang, Xiafu (Autor:in) / Lu, Geng (Autor:in) / Zhong, Yisheng (Autor:in)


    Erscheinungsdatum :

    01.06.2014


    Format / Umfang :

    2485402 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Robust flight control of small-scale unmanned helicopter

    Wang, Xiafu / Chen, You / Lu, Geng et al. | IEEE | 2013


    Robust Flight Control of a Small Unmanned Helicopter

    He, Miaolei / He, Jilin / Zhou, Xuan-yi | ArXiv | 2021

    Freier Zugriff

    Autonomous Flight Control Design for a Small-scale Unmanned Helicopter

    Peng, K. / Chen, B. / Lum, K. et al. | British Library Conference Proceedings | 2011


    Autonomous Flight Control Design for a Small-scale Unmanned Helicopter

    Peng, Kemao / Chen, Ben M / Lum, Kai Yew | AIAA | 2011


    Small-scale coaxial armed unmanned helicopter flight dynamics investigation

    Wu, Meiliwen / Chen, Ming / Wang, Fang et al. | AIAA | 2016