Title :
Robust decentralized control for a 3-DOF helicopter
Author :
Yu, Yao ; Lu, Geng ; Zhong, Yi-Sheng
Author_Institution :
Dept. of Autom. Control, Tsinghua Univ., Beijing, China
Abstract :
A 3-DOF helicopter attitude tracking control system is described as a MIMO strict-feedback form system with unknown parameters, bounded disturbances and nonlinear uncertain cross-couplings. A new design method based on signal compensation technique and backstepping strategy is proposed. For each subsystem, a robust controller consists of a nominal controller and a robust compensator. Robust practical tracking property of closed-loop system is proven and the excellent performance is demonstrated by means of experimental results.
Keywords :
MIMO systems; aircraft control; attitude control; compensation; decentralised control; feedback; helicopters; nonlinear control systems; robust control; tracking; uncertain systems; 3-DOF helicopter attitude tracking control system; MIMO strict-feedback form system; backstepping strategy; bounded disturbances; closed-loop system; nonlinear uncertain cross-couplings; robust compensator; robust decentralized control; robust practical tracking property; signal compensation technique; unknown parameters; DC motors; Helicopters; Laboratories; Mathematical model; Robustness; Steady-state; Uncertainty; 3-DOF helicopter; Backstepping; linear decentralized controller; robust; tracking;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3
