Helicopter H∞ control design with robust flying quality

Spatial Trajectory Tracking Control of a Fully Actuated Helicopter in Known Static Environment

“…1, by fixing an inertial coordinate frame F i in the Euclidean space and a reference coordinate frame F b attached to the body of the helicopter, a mathematical model of the helicopter dynamics can be derived from Newton-Euler equations of motion of a rigid body in the inertial coordinate frame. The multiple-input-multiple-output (MIMO) non-linear model of a six degree-of-freedom (DOF 6 ) helicopter is described as below [8,16,55]:…”

“…A large number of control techniques have been proposed in the literature for the flight control of helicopters, including sliding mode control [6], H ∞ control [7][8][9][10], backstepping control [11,12], neural network control [13][14][15], and so on. In all of these flight control methods, modelbased control, such as H ∞ control etc., is susceptible to uncertainties and disturbances.…”

Robust multi-mode flight control design for an unmanned helicopter based on multi-loop structure

“…Control design for unmanned helicopter has been considered as a challenge in aeronautical field over decades [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. The main difficulties, in designing controllers for UAH, can be generally characterized as underactuated, cross-coupled, large uncertainties, openloop instabilities and highly nonlinear dynamics, [2,3,5].…”

“…In spite of all these challenges, a number of researchers have worked on designing UAHs and wide set of design techniques, from classical control to neuralbased adaptive control, [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17], have been reported. Among early control technique, one-loop-at-a-time control design methods, based on classical single input single output (SISO) techniques with a proportionalplus-integral (PI) configuration are the most widely used [5][6][7][8].…”

“…However it does not provide a systematic way to consider uncertainties, disturbance, input saturation and cross-couplings among channels, [8]. Thereafter, researchers used multivariable techniques for design of stability augmentation and guidance systems for helicopter, such as Eigenstructure Assignment [9], LQG/LQG [10], µ -synthesis [11], H 2 [12], and H ∞ [13][14][15][16]. Among MIMO approaches, H ∞ theory is the most widely used in recent decade as it provides robust stability for systems subject to uncertainty and disturbance.…”