Title :
The H_Infinity Robust Control Algorithm of the 3-DOF Four Rotors System
Author :
Jianying Liu ; Shiyue Liu ; Qingbo Geng
Author_Institution :
Beijing Inst. of Technol., Beijing, China
Abstract :
The 3-DOF four rotors system is a typical high-order, nonlinear, multi-variable and strong coupling complex system. the motion equations of the yaw, pitch and roll axes can simulate the flight characteristics of the actual helicopter. It is usually difficult to establish the accurate mathematical model for the influence of the parameter perturbation and the external disturbance. According to this instance, the mixed sensitivity robust control method is proposed to improve the system control qualities. the simulation results shown that the controller can make the 3-DOF helicopter system have good robust stability and dynamic performance when the model object parameters exist uncertainty.
Keywords :
H∞ control; aircraft control; couplings; helicopters; large-scale systems; multivariable control systems; nonlinear control systems; robust control; uncertain systems; 3-DOF four rotors system; H∞ robust control algorithm; dynamic performance; external disturbance; flight characteristics simulation; helicopter; high-order system; mathematical model; mixed sensitivity robust control method; motion equation; multivariable system; nonlinear system; parameter perturbation; strong coupling complex system; uncertainty; Control systems; Frequency measurement; Helicopters; Mathematical model; Modeling; Rotors; Sensitivity; 3-DOF helicopter; four rotors; mixed sensitivity; robust control;
Conference_Titel :
Computational Intelligence and Design (ISCID), 2012 Fifth International Symposium on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4673-2646-9
DOI :
10.1109/ISCID.2012.84
