Robust output tracking control of a laboratory helicopter for automatic landing

Robust output tracking control problem of a lab helicopter for automatic landing in high seas is dealt with. The motion of the helicopter is required to synchronize with that of an oscillating platform, e.g., the deck of a vessel. A robust linear time-invariant output controller consisting of a nominal controller and a robust compensator is proposed. The robust compensator is introduced to restrain the influences of uncertainties. It is shown that robust stability and robust tracking property can be achieved. Experimental results demonstrate the effectiveness of the designed control approach.