Experimental Results on Robust Tracking Control of a Lab Helicopter under Wind Disturbances
The flight performances of an unmanned helicopter can be affected by wind gusts when they are taking aggressive missions. In this paper, the position control problem is investigated under unknown wind disturbances for a laboratory helicopter. A robust controller is designed in two steps: firstly, a static linear feedback controller is applied to get exact tracking for the nominal system; then, a robust compensator is introduced to reduce the effects of the uncertainties. It is proven that the tracking error can be guaranteed to converge to the neighborhood of the origin with designated boundary. Experimental results on the helicopter are also given to confirm the effectiveness of the method.
Unknown Wind Disturbances Robust Control 3-DOF Lab Helicopter
LIU Hao LU Geng ZHONG Yisheng
Department of Automation, TNList, Tsinghua University, Beijing, 100084, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
2737-2742
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）