Robust tracking control for a 3DOF helicopter with multi-operation points

Author

Yao, Yu ; Zhong Yisheng

Author_Institution

Dept. of Autom., Tsinghua Univ., Beijing

fYear

2008

fDate

16-18 July 2008

Firstpage

733

Lastpage

737

Abstract

A 3DOF helicopter plant is described as a MIMO uncertain nonlinear system with multi-operation points, and a robust control method based on signal compensation is proposed. A controller designed by this method consists of a nominal controller and a robust compensator. Robust tracking property of closed-loop system is proven and simulation results show that the designed control system can guarantee high precision robust attitude control at multi-operation points.

Keywords

MIMO systems; attitude control; closed loop systems; control system synthesis; helicopters; nonlinear control systems; robust control; tracking; uncertain systems; 3DOF helicopter plant; MIMO uncertain nonlinear system; closed-loop system; multioperation point; nominal controller; robust attitude control; robust compensator; robust tracking control; signal compensation; Automatic control; Automation; Control systems; DC motors; Helicopters; MIMO; Nonlinear control systems; Robust control; Torque control; Voltage control; 3DOF Helicopter; MIMO; Multi-operation Points; Robust tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605408

Filename

4605408