Title :
An Adaptive Robust Guaranteed Cost Controller Design and Its Application to the Yaw Control of Helicopter
Author :
Zhao, Xingang ; Han, Jianda ; Jiang, Zhe
Author_Institution :
Chinese Acad. of Sci., Shenyang
Abstract :
This paper discusses the adaptive robust guaranteed cost tracking control problem of linear systems, with time-varying uncertainties. The bounds of varying uncertainty ellipsoidal are obtained by set membership identification method. The proposed adaptive robust controller consists of a constant gain determined by the nominal system and a variable gain tuned by the designed adaptive laws. The application of this approach to the yaw control of a small-scale helicopter mounted on an experiment platform shows the effectiveness
Keywords :
adaptive control; control system synthesis; helicopters; motion control; robust control; time-varying systems; adaptive robust guaranteed cost controller design; helicopter; linear systems; nominal system; set membership identification method; time-varying uncertainties; yaw control; Adaptive control; Control systems; Costs; Gain; Helicopters; Linear systems; Programmable control; Robust control; Time varying systems; Uncertainty; Adaptive Control; Guaranteed Cost Control; Helicopter; Robust Control;
Conference_Titel :
Information Acquisition, 2007. ICIA '07. International Conference on
Conference_Location :
Seogwipo-si
Print_ISBN :
1-4244-1220-X
Electronic_ISBN :
1-4244-1220-X
DOI :
10.1109/ICIA.2007.4295757
