Flexible Performance Design of Robust Control Using the Linear Matrix Technique for a Robotic Coax-Helicopter

Dong, Zhiyan; Liu, Shunan; Liu, Jialin; Yao, Yongming; Yu, Xianli; Yang, Song; Lv, Yang

doi:10.1007/s13369-016-2309-x

Cited by 4 publications

(2 citation statements)

References 29 publications

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“…9 However, only few researches considered the complete model foundation and control design of a robotic coaxial rotor helicopter. 3 In addition, a coaxial helicopter is nonlinear uncertainty and severely coupling plant. These characteristics considerably complicate the control scheme design of coaxial rotor helicopter to achieve high-performance design.…”

Section: Introductionmentioning

confidence: 99%

“…There has been re-interested in coaxial rotor because of the requirements of high speed and heavy lift. [1][2][3] It has been validated that coaxial rotor consumes less induced power comparing with the traditional single rotor with same blade properties and solidity condition. 4,5 Most of researches were focused on the optimum performing coaxial rotor.…”

Section: Introductionmentioning

confidence: 99%

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Multilayer hierarchical control for robotic coax-helicopter based on the H_∞ robustness and mixing control scheme

Chen

Qin

Dong

et al. 2017

Advances in Mechanical Engineering

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The control scheme of a robotic coax-helicopter was investigated and a control scheme was proposed to simultaneously satisfy not only nominal performance and robust performance but also the complexity, flexibility, and computation of controller design. The complete dynamics was considered including flapping dynamics and inflow velocities. A robotic coax-helicopter dynamic model was reasonable divided into three subsystems to separately design controller based on the analysis of singularity value of the output and each inputs with fully considering the couplings. Every subsystem controller design was based on the comparisons in the performance and design complexity among the previous H ' loopshaping method, the existed linear matrix inequality method, and the proposed method. A sufficient set of solvability conditions are addressed to provide a flexible performance index design for the longitudinal and lateral velocity subsystems controller. Meanwhile, the pitch-roll attitude subsystem controller was designed taking use of the previous fullorder H ' loop-shaping method. The existed linear matrix inequality method was applied the heave-yaw subsystem because of its low computational complexity. Finally, simulations were implemented to show the effectiveness of the selection of each part's controller law in the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Multilayer hierarchical control for robotic coax-helicopter based on the H_∞ robustness and mixing control scheme

Chen

Qin

Dong

et al. 2017

Advances in Mechanical Engineering

Self Cite

View full text Add to dashboard Cite

show abstract

A fuzzy adaptive controller design for integrated guidance and control of a nonlinear model helicopter

Pakro

Nikkhah

2022

Int. J. Dynam. Control

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Design robust H_∞ -PID controller for a helicopter system using sequential quadratic programming algorithm

Mary

Miry

2022

Journal of the Chinese Institute of Engineers

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Flexible Performance Design of Robust Control Using the Linear Matrix Technique for a Robotic Coax-Helicopter

Cited by 4 publications

References 29 publications

Multilayer hierarchical control for robotic coax-helicopter based on the H_∞ robustness and mixing control scheme

Multilayer hierarchical control for robotic coax-helicopter based on the H_∞ robustness and mixing control scheme

A fuzzy adaptive controller design for integrated guidance and control of a nonlinear model helicopter

Design robust H_∞ -PID controller for a helicopter system using sequential quadratic programming algorithm

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Flexible Performance Design of Robust Control Using the Linear Matrix Technique for a Robotic Coax-Helicopter

Cited by 4 publications

References 29 publications

Multilayer hierarchical control for robotic coax-helicopter based on the H∞ robustness and mixing control scheme

Multilayer hierarchical control for robotic coax-helicopter based on the H∞ robustness and mixing control scheme

A fuzzy adaptive controller design for integrated guidance and control of a nonlinear model helicopter

Design robust H∞ -PID controller for a helicopter system using sequential quadratic programming algorithm

Contact Info

Product

Resources

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Multilayer hierarchical control for robotic coax-helicopter based on the H_∞ robustness and mixing control scheme

Multilayer hierarchical control for robotic coax-helicopter based on the H_∞ robustness and mixing control scheme

Design robust H_∞ -PID controller for a helicopter system using sequential quadratic programming algorithm