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Robust attitude tracking control of small-scale unmanned helicopter

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  • Xiafu Wang
  • You Chen
  • Geng Lu
  • Yisheng Zhong

Abstract

Robust attitude control problem for small-scale unmanned helicopters is investigated to improve attitude control performances of roll and pitch channels under both small and large amplitude manoeuvre flight conditions. The model of the roll or pitch angular dynamics is regarded as a nominal single-input single-output linear system with equivalent disturbances which contain nonlinear uncertainties, coupling-effects, parameter perturbations, and external disturbances. Based on the signal compensation method, a robust controller is designed with two parts: a proportional-derivative controller and a robust compensator. The designed controller is linear and time-invariant, so it can be easily realised. The robust properties of the closed-loop system are proven. According to the ADS-33E-PRF military rotorcraft standard, the controller can achieve top control performances. Experimental results demonstrate the effectiveness of the proposed control strategy.

Suggested Citation

  • Xiafu Wang & You Chen & Geng Lu & Yisheng Zhong, 2015. "Robust attitude tracking control of small-scale unmanned helicopter," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(8), pages 1472-1485, June.
    • Handle: RePEc:taf:tsysxx:v:46:y:2015:i:8:p:1472-1485
    DOI: 10.1080/00207721.2013.822939
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    References listed on IDEAS

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    1. Iliana M. Meza-Sánchez & Luis T. Aguilar & Anton Shiriaev & Leonid Freidovich & Yury Orlov, 2011. "Periodic motion planning and nonlinear ℋ tracking control of a 3-DOF underactuated helicopter," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(5), pages 829-838.
    2. S.M. Tabatabaeipour & R. Izadi-Zamanabadi & T. Bak & A.P. Ravn, 2012. "Passive fault-tolerant control of discrete time piecewise affine systems against actuator faults," International Journal of Systems Science, Taylor & Francis Journals, vol. 43(11), pages 1985-1997.
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