Title :
Robust H∞ optimal tracking control for 3-DOF helicopter
Author :
Lu, Renquan ; Du, Wei ; Zheng, Weihong ; Xue, Anke
Author_Institution :
Inst. of Inf. & Control, Hangzhou Dianzi Univ., Hangzhou
Abstract :
In this paper, the mathematical model of 3-DOF helicopter is established at first. Due to disturbance torque existing on the flight of 3-DOF helicopter, a robust Hinfin optimal tracking controller is analyzed and designed. The experimental results indicate that comparing with traditional LQR controller, the robust Hinfin optimal tracking controller can guarantee 3-DOF helicopter is not only better robust stable and anti-disturbance, but also provides asymptotic tracking for given reference inputs.
Keywords :
Hinfin control; aircraft control; helicopters; linear quadratic control; position control; robust control; 3-DOF helicopter; LQR controller; asymptotic tracking; disturbance torque; robust Hinfin optimal tracking control; Aerospace electronics; Aerospace engineering; Automation; Helicopters; Intelligent control; Mathematical model; Optimal control; Process control; Robust control; Robustness; 3-DOF helicopter; H∞ control; asymptotic tracking; robustness;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4594060
