Yaw Control of Small-scale Helicopter with Time-varying Uncertainty: an Adaptive Robust H2 Control Approach

Abstract

This paper is concerned with the robust H2 tracking control problem for the yaw control of a small-scaled helicopter with time-varying uncertainty. The proposed controller incorporates an adaptation mechanism, which improves the performance of system compared with conventional robust controller with a fixed gain. Simulation results of the yaw control of a small-scaled helicopter mounted on an experiment platform have demonstrated the theoretic results.

Search and Rescue Rotary‐Wing UAV and Its Application to the Lushan Ms 7.0 Earthquake

“…The RUAV research group at the Chinese Academy of Sciences (CAS) has focused on accurate RUAV‐based positioning for rapid rescue efforts after earthquakes for 7 years (2007‐2013). During the preceding 4 years (2003‐2006), efforts were focused on basic autonomous control research using the Raptor model helicopter (Qi et al., ; Qi & Han, ; Zhao, Liu, & Han, ; Zhao & Han, ; Qi, Han, & Wu, ; He & Han, ; Wu et al., ; Qi, Song, Dai, Han, & Wang, ; Wu, Song, Qi, Han, & Shi, ; Qi, Song, Wu, Han, & Wang, ; Song, Han, & Liu, ; Qi et al., ). This program is supported by the National Natural Science Foundation of China (Key Program) and the National Key Technology Research and Development Program of China in collaboration with the National Earthquake Response Support Service (NERSS).…”

Yaw Control of RUAVs : an Adaptive Robust H∞ Control Method

“…Using adaptive method, a variable gain controller is designed to reduce conservatism inherent in fixed gains. Then, in [12], time-varying ellipsoidal uncertainty obtained by set membership identification method is considered in adaptive robust H 2 tracking control. To guarantee the asymptotic stability and H 2 performance of closed-loop system, an adjustable target model is introduced.…”

“…In this paper we will further consider an adaptive robust H ∞ tracking controller design with simpler structure than [12] for linear systems with time-varying uncertainty. The time-varying ellipsoidal uncertainty obtained by set membership identification method [13].…”