The H∞ Robust Control Algorithm of the 3-DOF Four Rotors System

摘要：

The 3-DOF four rotors system is a typical high-order, nonlinear, multi-variable and strong coupling complex system. The motion equations of the yaw, pitch and roll axes can simulate the flight characteristics of the actual helicopter. It is usually difficult to establish the accurate mathematical model for the influence of the parameter perturbation and the external disturbance. According to this instance, the mixed sensitivity robust control method is proposed to improve the system control qualities. The simulation results shown that the controller can make the 3-DOF helicopter system have good robust stability and dynamic performance when the model object parameters exist uncertainty.

关键词： mixed sensitivity four rotors 3-DOF helicopter robust control

作者: jianying Liu shiyue Liu qingbo Geng

作者单位: Beijing Institute of Technology, Beijing Institute of Technology, Beijing Institute of Technology BIT Beijing, China

会议类型: 国际会议

会议名称: 2012 Fifth International Symposium on Computational Intelligence and Design 第五届计算智能与设计国际会议 ISCID 2012

会议地点: 杭州

会议语种:英文

页码: 306-309

在线出版日期: 2012-10-28（万方平台首次上网日期，不代表论文的发表时间）