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

Abstract

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.

Design and Implementation of Model Predictive Control Based PID Controller for Industrial Applications

“…Since the industrial automation system is constructed in a multi-leveled or hierarchal structure [21,22], the advanced control algorithm can be applied centrally or distributed among different levels of automation hierarchy of the industrial plant to meet the APC challenges. Consequently, most advanced control theory is performed in a hierarchical control structure in various applications, for example, power system [23] and robotics [24]. MPC is an APC algorithm that has significant advantages, particularly for the MIMO system with constraints [25][26][27][28].…”