Robust H-Infinity Controller for Two Degree of Freedom Helicopter

Helicopter is a non-linear model which contain uncertainties and it will have non-linearity in operation. It has some uncertainty and external perturbation while in operation. These parameters are considered with control laws while designing. Using Lagrange's equations the mathematical modeling of the 2-DOF helicopter is done. For the attitude control performances of pitch and yaw, the Robust attitude control problem for helicopters are investigated. The model of the pitch and yaw angular dynamics are measured as a nominal single-input single-output linear system with equivalent disturbances which contain nonlinear uncertainties, coupling-effects, parameter perturbations, and external disturbances. A decentralized controller is considered for cross coupled Single Input Single Output Twin rotor aero dynamic system (TRAS). The H-infinity controller is used to control a 2-DOF and the evaluation of performance is performed using MATLAB.