Design of Robust H-infinity Flight Control for MIMO Model of Bi-copter Against Uncertainty

Flight controller design for Multiple Input Multiple Output (MIMO) plant models is challenging due to its complexity. Flight control usually uses the MIMO model because it has multiple angle rotation outputs and numerous actuator signal inputs. Bi-copter, which has two actuators, is applied to develop its experimental model from 3 Degree of Freedom (DOF) helicopter simulator. The uncertainty may occur on the use of both motors. Wind also becomes a significant disturbance to flight control. Moreover, the sensitivity of the encoder’s sensor can interfere with angle measurement results. This research aims to apply H-infinity robust control for optimizing the MIMO model of bi-copter flight control to deal with uncertainty and disturbance. From the simulation and analysis, the proposed controller’s singular values are successfully satisfied, not only robust criteria but also the H-infinity norm. The optimization controller design is robustly stable due to limited structural-parametric perturbations assessment. The robustness performance improves significantly because the proposed design has better dumping suppression also accuracy, both overshoot and errors. Moreover, the Lyapunov stability assessment on graphical method prove that the proposed controller design is asymptotically stable. Although a roll angle is an optimized target, pitch and yaw angle interestingly comply with the optimal results, minimizing the uncertainty and disturbance effect on the bi-copter flight control.