Robust attitude control of a 3DOF helicopter with multi-operation points

被引：21

作者：

Yu, Yao ^{[1
]}

Zhong, Yisheng ^{[1
]}

机构：

[1] Tsinghua Univ, Dept Automat, Tsinghua Natl Lab Informat Sci & Technol, Beijing 100084, Peoples R China

来源：

JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY | 2009年 / 22卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Attitude control; helicopter; MIMO; multi-operation points; robust tracking; 3DOF; TRACKING CONTROL; DESIGN;

D O I：

10.1007/s11424-009-9157-7

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operation points is described as a MIMO time-varying uncertain nonlinear system with unknown constant parameters, bounded disturbance and nonlinear uncertainty, and a robust output feedback control method based on signal compensation is proposed. A controller designed by this method consists of a nominal controller and a robust compensator. The controller is linear time-invariant and can be realized easily. Robust attitude tracking property of closed-loop system is proven and experimental results show that the designed control system can guarantee high precision robust attitude control under multi-operation points.

引用

页码：207 / 219

页数：13

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