Title :
Design of an H∞ loop shaping velocity controller for a small unmanned helicopter
Author :
Deng, Haibo ; Zhao, Xiaoguang ; Hou, Zengguang ; Hu, Yongqiang
Author_Institution :
Key Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing, China
Abstract :
In this paper, a velocity controller based on H∞ loop shaping for an unmanned helicopter is presented. H∞ loop shaping controller guaranteed the stability margin of the closed-loop system above desired level. The performance of the controller is improved using gain-scheduling of key parameters. The simulation results show that the controller is robust and has good performance.
Keywords :
H∞ control; closed loop systems; control system synthesis; helicopters; mobile robots; remotely operated vehicles; robust control; shape control; velocity control; H∞ loop shaping velocity controller design; closed loop system; gain scheduling; robust controller; small unmanned helicopter; stability margin; Automation; Helicopters; Learning; Robots; Robustness; Trajectory; H∞ loop shaping; small unmanned helicopter; velocity controller;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5553875
