Robust output tracking control of a laboratory helicopter for automatic landing

被引:14
|
作者
Liu, Hao [1 ]
Lu, Geng [1 ]
Zhong, Yisheng [1 ]
机构
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
基金
中国国家自然科学基金;
关键词
laboratory helicopter; output tracking control; robust control; automatic landing; DESIGN;
D O I
10.1080/00207721.2013.766774
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, robust output tracking control problem of a laboratory helicopter for automatic landing in high seas is investigated. The motion of the helicopter is required to synchronise with that of an oscillating platform, e. g. the deck of a vessel subject to wave-induced motions. A robust linear time-invariant output feedback controller consisting of a nominal controller and a robust compensator is designed. The robust compensator is introduced to restrain the influences of parametric uncertainties, nonlinearities and external disturbances. It is shown that robust stability and robust tracking property can be achieved simultaneously. Experimental results on the laboratory helicopter for automatic landing demonstrate the effectiveness of the designed control approach.
引用
收藏
页码:2242 / 2250
页数:9
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