Title :
Robust tracking control for a 3DOF helicopter with multi-operation points
Author :
Yao, Yu ; Zhong Yisheng
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing
Abstract :
A 3DOF helicopter plant is described as a MIMO uncertain nonlinear system with multi-operation points, and a robust control method based on signal compensation is proposed. A controller designed by this method consists of a nominal controller and a robust compensator. Robust tracking property of closed-loop system is proven and simulation results show that the designed control system can guarantee high precision robust attitude control at multi-operation points.
Keywords :
MIMO systems; attitude control; closed loop systems; control system synthesis; helicopters; nonlinear control systems; robust control; tracking; uncertain systems; 3DOF helicopter plant; MIMO uncertain nonlinear system; closed-loop system; multioperation point; nominal controller; robust attitude control; robust compensator; robust tracking control; signal compensation; Automatic control; Automation; Control systems; DC motors; Helicopters; MIMO; Nonlinear control systems; Robust control; Torque control; Voltage control; 3DOF Helicopter; MIMO; Multi-operation Points; Robust tracking;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605408
