Title :
Yaw Control of Small-scale Helicopter with Time-varying Uncertainty: an Adaptive Robust H2 Control Approach
Author :
Zhao, Xingang ; Liu, Guangjun ; Han, Jianda
Author_Institution :
Chinese Acad. of Sci., Shenyang
Abstract :
This paper is concerned with the robust H2 tracking control problem for the yaw control of a small-scaled helicopter with time-varying uncertainty. The proposed controller incorporates an adaptation mechanism, which improves the performance of system compared with conventional robust controller with a fixed gain. Simulation results of the yaw control of a small-scaled helicopter mounted on an experiment platform have demonstrated the theoretic results.
Keywords :
Hinfin control; adaptive control; helicopters; linear matrix inequalities; robust control; time-varying systems; tracking; uncertain systems; LMI approach; adaptive robust H2 tracking control approach; small-scale helicopter; time-varying uncertainty; yaw control; Adaptive control; Control system synthesis; Control systems; Helicopters; Hydrogen; Programmable control; Robotics and automation; Robust control; Uncertainty; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4282510
