Anti-Interference Control of Unmanned Helicopter Based on Output Feedback

Taking a small unmanned helicopter as the object, each part of the body stress distribution are analyzed by adopting the fission method in this paper. An unmanned helicopter flight dynamics model was established according to the balance of force and moment balance equations. Based on the model, complete all the balancing calculation of unmanned helicopter flight condition, and the linear state space model is obtained by the result of balancing. The problem of the parameters perturbation of the control system and the disturbance of the external environment during the flight of the unmanned helicopter are discussed, the static output feedback control algorithm of H∞ control theory is introduced to solve controller design problem. The simulation results show that the established model has higher accuracy, consistent with the basic characteristics of real helicopter, verify the effectiveness of the proposed modeling method. The H∞ control method achieves better control of the attitude of the unmanned helicopter under disturbance, indicating that the algorithm has a good robust decoupling and tracking characteristics. The design is suitable for anti-interference control of unmanned helicopters.