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

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4 Author(s)
Xingang Zhao ; Robotics Laboratory, Shenyang Institute of Automation, Nanta street 114#, Shenyang 110016, China; Graduate school of the Chinese Academy of sciences, Beijing 100039, China. zhaoxingang@sia.cn ; 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:

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 2006