Robust LQR Attitude Control of 3DOF Helicopter

Robust attitude control problem for a class of lab helicopter is dealt with. A new robust attitude controller design method is proposed. A controller designed by this method consists of three parts: a nominal feedforward controller, a nominal LQR state feedback controller and a robust compensator. The nominal feedforward controller is applied to derive a nominal linear error system in terms of linearizing parameters. The LQR controller is designed for the error system and the robust compensator is designed to restrain the effect of uncertainties and nonlinear properties. Theory analysis and simulation results show the robust performances of the closed-loop attitude control system.