Title :
Robust H2 control with adaptive compensation input with application to yaw control of RUAVs
Author :
Zhao, Xingang ; Han, Jianda ; Wu, Zhenwei
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang
Abstract :
The complicated dynamics of Rotorcraft-based Unmanned Aerial Vehicles (RUAVs) leads to both parametric and dynamic uncertainty. This paper introduces a hybrid control method that combines robust H2 control and adaptive control to deal with time-varying uncertainties of RUAVs. Using adaptive method, a new variable gain controller is designed to compensate the effect of uncertainty on systems. This control method has simpler structure compared with existing method. Then an application of this result to RUAVs mounted on an experiment platform has demonstrated the effectiveness of the proposed method.
Keywords :
adaptive control; compensation; control system synthesis; gain control; helicopters; remotely operated vehicles; robust control; time-varying systems; uncertain systems; vehicle dynamics; adaptive compensation input; adaptive control; dynamic uncertainty; hybrid control method; parametric uncertainty; robust H2 control; rotorcraft-based unmanned aerial vehicle dynamics; time-varying uncertainty; variable gain controller design; yaw control; Adaptive control; Automatic control; Gain; Helicopters; Hydrogen; Programmable control; Robust control; Robustness; Uncertainty; Vehicle dynamics;
Conference_Titel :
Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-4244-1767-4
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2008.4757979
