By Topic

Adaptive Robust Control Techniques Applied to the Yaw Control of a Small-scale Helicopter

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Xingang Zhao ; Robotics Lab., Shenyang Inst. of Autom. ; Zhe Jiang ; Jianda Han ; Guangjun Liu

This paper presents a new robust controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The yaw dynamic system is linearized into a linear system, which is modelled by an affine uncertainty model. We proposed a novel robust Hinfin feedback controller with adaptive mechanisms for the linear system with guaranteed control performances. The feedback gains are obtained by the solutions of a series of linear matrix inequalities (LMIs). The design approach reduces conservatism inherent in robust control with a fixed gain controller and improves performances in time-response. Numerical simulations illustrate the theoretical results

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

Oct. 2006