Title :
Nonlinear H∞ decoupling hover control of helicopter with parameter uncertainties
Author :
Yang, Ciann-Dong ; Liu, Wen-Hsiung
Author_Institution :
Inst. of Aeronaut. & Astronaut., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
Taking into account of parameter uncertainties within nonlinear helicopter model, we show in this paper that the six degree-of-freedom nonlinear H∞ controller designed for hovering helicopter can be exactly separated into two three degree-of-freedom controllers, one for translational motion and the other for rotational motion, even though longitudinal and lateral dynamics of helicopters in hovering are highly nonlinear and severely coupled.
Keywords :
H∞ control; aircraft control; control system synthesis; helicopters; motion control; nonlinear control systems; uncertain systems; helicopter control; hovering mode; lateral dynamic; longitudinal dynamic; nonlinear H∞ decoupling hover control; nonlinear helicopter model; parameter uncertainty; rotational motion; six degree-of-freedom nonlinear H∞ controller; translational motion; Aerodynamics; Control design; Helicopters; Motion control; Robust control; Sliding mode control; Uncertain systems; Uncertainty; Vehicle dynamics; Vehicles;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1244066
