Acceleration feedback enhanced H∞ disturbance attenuation control

In this paper, a robust controller design method is proposed with measurable acceleration signals. In general, the normal high-gain acceleration feedback control (AFC) is too complicated to be designed and cannot be used in underactuated or nonlinear systems, as well suffers from the algebraic loop. Whereas, the new controller in this paper overcome all these disadvantages by introducing a linear pre-filter. Subsequently, the Hinfin technique is used to ensure the disturbance to output stability. And, backstepping algorithm is considered to deal with a class of underactuated systems combined with the new robust controller. Finally, simulations are conducted with respect to the tracking control of an unmanned model helicopter. The results are compared with those obtained by the controllers without acceleration feedback and verify the feasibility of the new controller design method.