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

Abstract

In this paper, a novel multi-mode flight control strategy for unmanned helicopter, in presence of model uncertainty, atmospheric disturbances and handling qualities specification requirements (as in ADS-33E), based on multi-loop control structure combining robust H-infinity and PI control is presented. In inner loop H-infinity optimal control technique is utilized ensuring the stability of flight control system in case of change of helicopter dynamics, model uncertainties and eliminates effect of gust disturbance on helicopter states and collective/cyclic inputs. PI control in outer loop is used to improve the dynamic and static operation characteristics. Attitude control and attitude holding flight mode with satisfactory command response and decoupling characteristics is designed using the proposed control strategy. Analysis and simulation results show that Level 1 handling requirements as defined in ADS-33E are accomplished even when helicopter is under constant wind circumstance.

Enhanced Data Driven Mode-Free Adaptive Yaw Control of UAV Helicopter

“…However, for the tracking control, the controller based on fixed linear models may result in an unacceptable response and even the instability of the closed-loop system. Because linearized models cannot guarantee the global model approximation, nonlinear control methods have been used in the control system design, such as [2,[11][12]. Furthermore, in a lot of control systems, the nonlinear model of plant dynamics is generally nonaffine in input and is commonly simplified around a trim point, that is, an operating point is dependent on the current system states [13].…”

An adaptive multivariable disturbance rejection algorithm for helicopter turbulence compensation control

“…In [4], the disturbance attenuation problem with stability using static output feedback for linear time-invariant systems was studied. In [9], a multi-mode flight control scheme is designed based on multi-loop control structure combining robust H ∞ and PI control for unmanned helicopter in presence of model uncertainty and atmospheric disturbances, and the tracking performance is ensured only when the wind disturbance is constant. However, the existing wind disturbance rejection techniques are mainly developed through robust control designs or PI control designs to focus on the stabilization of the helicopter but output tracking.…”

Identification and modeling of the three rotational movements of a miniature coaxial helicopter

“…[1][2][3][4][5] The flying devices ranging from 15 cm to 1 m in length with speeds between 5 and 20 m/s are called micro (or miniature) aerial vehicles (MAV) and represent a special class of UAV. [6][7][8] There are various configurations of aerial platforms, e.g.…”