Robust Decentralized Control for a 3-DOF Helicopter
A 3-DOF helicopter attitude tracking control system is described as a MIMO strict-feedback form system with unknown parameters, bounded disturbances and nonlinear uncertain cross-couplings. A new design method based on signal compensation technique and backstepping strategy is proposed. For each subsystem, a robust controller consists of a nominal controller and a robust compensator. Robust practical tracking property of closed-loop system is proven and the excellent performance is demonstrated by means of experimental results.
Backstepping robust tracking linear decentralized controller 3-DOF helicopter
Yao Yu Gen Lu Yi-Sheng Zhong
Department of Automatic Control, Tsinghua University, Beijing 100084 Department of Automatic Control, Tsinghua University, Beijing 100084 Tsinghua National Laboratory fo
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
2708-2714
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）