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

fYear

2008

fDate

10-13 Nov. 2008

Firstpage

355

Lastpage

359

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE

Conference_Location

Orlando, FL

ISSN

1553-572X

Print_ISBN

978-1-4244-1767-4

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2008.4757979

Filename

4757979