Experimental results on robust optimal attitude feedback control of a model helicopter

This paper addresses the robust optimal attitude control problem of a model helicopter without the angular velocity measurements. A nominal linear system is introduced, while the real system is considered as the nominal one added with uncertainties such as parameter uncertainties, nonlinear dynamics, and external disturbances. An observer is firstly applied to estimate the angular velocity; then, a nominal optimal controller is designed for the nominal system to achieve the desired tracking; lastly, a robust compensator is introduced to reduce the influences of the uncertainties existing in the real system. Robust stability and asymptotical tracking properties are proven. Experimental results on the model helicopter are given to demonstrate the effectiveness of the designed robust control method.