Tracking control for the helicopter with time-varying disturbance and input stochastic perturbation

Abstract

In this paper, the tracking control problem is investigated for the helicopter under time-varying disturbance, input stochastic perturbation, and unmeasurable flapping motion states. Firstly, a state observer and a disturbance observer are constructed to estimate the unmeasurable states and the time-varying disturbance, and the estimation of the disturbance is used in the feedforward controller design. Secondly, under the input stochastic perturbation, a feedback controller is constructed to guarantee the stochastic stability of the closed-loop error system. Using the stochastic control theory and the linear matrix inequality technique, the stability of the closed-loop error system is analyzed, and the gain of the controller is acquired via a solvable sufficient condition. Finally, an example is presented to illustrate the effectiveness of the proposed method.

Event-triggered anti-disturbance control for aerial recovery drogue stabilization with guaranteed transient performance constraints

“…Define the trajectory tracking error e 1 ¼ ½e y , e z T ¼ X _ 1 À X 1c , where X _ 1 is the estimated trajectory states by the ETESO defined in equation (30), X 1c ¼ ½y c , z c T is the trajectory command signal. By recalling the transformed errors z 1 ¼ ½z y , z z T in equation ( 22) and its derivative (23), a virtual control law for the trajectory loop is designed as…”

“…To enhance the flight control system's disturbance rejection capability, the disturbance observers-based control (DOBC) methodologies have been proven to be powerful. [21][22][23][24] Among these observers, the extended state observer (ESO) has been widely applied because of its simple structure and high estimation precision. [25][26][27] However, traditional ESO relies on continuous sampling mechanisms, requiring state signal transmission within each execution cycle, which can easily lead to a considerable computational cost in the sensor-to-controller channel.…”

Antidisturbance Control for Helicopter Stochastic Systems

“…In [18], the model reference resilient control methods were designed for linear helicopter systems with time-varying disturbances. In [19], tracking control issues were discussed for the linear helicopter systems under timevarying disturbances and input stochastic perturbation. However, the dynamics of the helicopter states are complicated with many nonlinear characteristics.…”