DocumentCode
1999262
Title
Robust hover control for a model helicopter
Author
Bendotti, Pascale ; Morris, John C.
Author_Institution
Dept. of Electr. Eng., California Inst. of Technol., Pasadena, CA, USA
Volume
1
fYear
1995
fDate
21-23 Jun 1995
Firstpage
682
Abstract
Robust control design techniques are used to design a model-based controller for a small radio-controlled helicopter operating at hover. A nominal multi-input multi-output state-space model is identified from experimental data, using linear estimation. Using an appropriate uncertainty description, a stabilizing H∞ controller with setpoint tracking is designed and is compared to a standard LQG controller
Keywords
H∞ control; MIMO systems; aircraft control; control system synthesis; helicopters; robust control; state estimation; state-space methods; tracking; H∞ controller; MIMO state-space model; control design; model helicopter; model-based controller; robust hover control; setpoint tracking; Control nonlinearities; Helicopters; Motion control; Nonlinear dynamical systems; Radio control; Robust control; Space technology; State estimation; Uncertainty; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.529337
Filename
529337
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