Robust control arithmetic with limitation of system input energy for attitude system of subminiature unmanned helicopter

A new robust control arithmetic is put forward to deal with the uncertain attitude model of small unmanned helicopter (SUH). Firstly, the attitude matrix model of SUH is denoted by the block diagonally radioactive matrix. Secondly, based on the restriction of the closed-loop pole and variance constraints, a new robust control, which has the characteristic of system input energy limited, is put forward. Furthermore, the worst system instance of the robust control is analyzed. Finally, simulation proves that the robust control arithmetic has the good performance at the worst condition. In other words, the robust control arithmetic preferably resolves the attitude control of SUH.