Robust decentralized control for a 3-DOF helicopter

Author

Yu, Yao ; Lu, Geng ; Zhong, Yi-Sheng

Author_Institution

Dept. of Autom. Control, Tsinghua Univ., Beijing, China

fYear

2012

fDate

25-27 July 2012

Firstpage

2708

Lastpage

2714

Abstract

A 3-DOF helicopter attitude tracking control system is described as a MIMO strict-feedback form system with unknown parameters, bounded disturbances and nonlinear uncertain cross-couplings. A new design method based on signal compensation technique and backstepping strategy is proposed. For each subsystem, a robust controller consists of a nominal controller and a robust compensator. Robust practical tracking property of closed-loop system is proven and the excellent performance is demonstrated by means of experimental results.

Keywords

MIMO systems; aircraft control; attitude control; compensation; decentralised control; feedback; helicopters; nonlinear control systems; robust control; tracking; uncertain systems; 3-DOF helicopter attitude tracking control system; MIMO strict-feedback form system; backstepping strategy; bounded disturbances; closed-loop system; nonlinear uncertain cross-couplings; robust compensator; robust decentralized control; robust practical tracking property; signal compensation technique; unknown parameters; DC motors; Helicopters; Laboratories; Mathematical model; Robustness; Steady-state; Uncertainty; 3-DOF helicopter; Backstepping; linear decentralized controller; robust; tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6390383