Attitude control for unmanned helicopter using h-infinity loop-shaping method

The aim of this paper is to design an attitude controller of an unmanned helicopter using h-infinity and loop-shaping methods. A pre-compensator and a post-compensator are selected to modify the singular values of the normal system to get a desired loop shape. The h-infinity feedback controller is synthesized and the stability margin is calculated. The simulation results show that the attitude controller designed with robust performance has a good response performance, and h-infinity and loop-shaping methods can make unmanned helicopter have an excellent decoupling and dynamic performance.