Title :
Robust hover control for a model helicopter
Author :
Bendotti, Pascale ; Morris, John C.
Author_Institution :
Dept. of Electr. Eng., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Robust control design techniques are used to design a model-based controller for a small radio-controlled helicopter operating at hover. A nominal multi-input multi-output state-space model is identified from experimental data, using linear estimation. Using an appropriate uncertainty description, a stabilizing H∞ controller with setpoint tracking is designed and is compared to a standard LQG controller
Keywords :
H∞ control; MIMO systems; aircraft control; control system synthesis; helicopters; robust control; state estimation; state-space methods; tracking; H∞ controller; MIMO state-space model; control design; model helicopter; model-based controller; robust hover control; setpoint tracking; Control nonlinearities; Helicopters; Motion control; Nonlinear dynamical systems; Radio control; Robust control; Space technology; State estimation; Uncertainty; Wrist;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529337
