μ-Synthesis and Hardware-in-the-loop Simulation of Miniature Helicopter Control System

In this paper, a novel robust control strategy based on disturbance-compensationgain (DCG) construction approach is proposed for small-scale unmanned helicopters in the presence of high-order mismatched disturbances. The overall control structure consists of two hierarchical layers. The inner-loop controller is to guarantee the stability of the unmanned helicopters subject to high-order mismatched disturbances. With the estimation of the disturbances and their successive derivatives via finite-time disturbance observer (FTDO), by properly designing some disturbance compensation gains, a novel robust controller is developed to remove the high-order mismatched disturbances from the output channels. The outer-loop controller is to produce flight commands for innerloop system, as well as to track the reference trajectory, which is carried out with the dynamic inversion technique. The simulation results demonstrate that the unmanned helicopters are capable to perform flight missions autonomously with the proposed control strategy.

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“…According to the outer-loop dynamics (11), the dynamic inversion control law is designed as follows:…”

Section: Outer-loop Controllermentioning

confidence: 99%

“…During the past decades, a number of elegant control methods have been employed for unmanned helicopters, including H ∞ [10], µ-synthesis [11], sliding mode control (SMC) [12], model predictive control (MPC) [13], and so on.…”

Section: Introductionmentioning

confidence: 99%

Robust control of unmanned helicopters with high-order mismatched disturbances via disturbance-compensation-gain construction approach

Fang

Liu

Ding

2018

Journal of the Franklin Institute

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“…The designed high‐order controller was based on a linearized model at hover with multiplicative uncertainty at the input. Then, the controller has been tested using a hardware‐in‐the‐loop simulation technique . An alternative robust control method for small‐scale unmanned helicopter was to build two‐layered cascade architecture based on disturbance compensation gain construction approach .…”

Section: Introductionmentioning

confidence: 99%

“…Then, the controller has been tested using a hardware-in-the-loop simulation technique. 7 An alternative robust control method for small-scale unmanned helicopter was to build two-layered cascade architecture based on disturbance compensation gain construction approach. 8 Inner loop controller was only responsible for stabilizing the helicopter under the effect of high-order mismatched disturbances.…”

mentioning

confidence: 99%

Nonlinear sliding sector design for multi‐input systems with application to helicopter control

Özcan

Salamcı

Nalbantoglu

2020

Intl J Robust & Nonlinear

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Summary The ability of helicopters to hover and land vertically has spurred an interesting field of research on the development of autonomous flight for these rotatory wing aircrafts. Linear control theory with gain scheduling, which is based on linearizing the system at the equilibrium points, dominated the helicopter autopilot design. Unlike the linear cascaded autopilot structure used in the existing literature, this paper uses state‐dependent linear like structure, including rate‐limited actuator dynamics, with cascaded autopilot topology. This approach allows nonlinear control laws to be implemented throughout the entire flight envelope, providing satisfactory robustness and stability over the various parameter uncertainties and time delays. The cascaded autopilot topology with nonlinear dynamical equations contains a new sliding sector control (SSC) mechanism which is derived for multi‐input nonlinear dynamical systems. The proposed SSC structure for multi‐input nonlinear systems is used in the inner loop of the cascaded autopilot system where the fastest dynamics are required to be controlled for rapid changes in the helicopter dynamical characteristics which enables one to stabilize the helicopter over a wide range of flight conditions. The proposed cascaded autopilot topology with the new SSC mechanism is tested in simulations to assess its robustness and stability properties. To establish its feasibility, the proposed control method is replaced with a suboptimal control method, namely state‐dependent differential Riccati equation (SDDRE) method, for the inner loop and the results of the proposed control architecture are compared with those of SDDRE method.

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“…From the existing literature in relation to robust fault-tolerant control design for UAHs, linearized UAH system models (de Oca et al, 2010; Jiang and Chowdhury, 2005; Liu et al, 2012) and linear control approaches, such as proportional-integral-differential (PID) control (Kim and Shim, 2003), μ control (Mollov et al, 2014), gain scheduling control (Takahashi et al, 2008) and linear quadratic regulator control (Xia and Ge, 2010), were primarily employed to proceed with the controller design. Nevertheless, methods that can reflect the nonlinear and mutual coupling characters between each channel in the full flight process should be further studied.…”

Section: Introductionmentioning

confidence: 99%

Robust attitude fault-tolerant control for unmanned autonomous helicopter with flapping dynamics and actuator faults

Yan

Lu³

2018

Transactions of the Institute of Measurement and Control

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In this paper, an adaptive robust fault-tolerant control scheme is developed for attitude tracking control of a medium-scale unmanned autonomous helicopter with rotor flapping dynamics, external unknown disturbances and actuator faults. For the convenience of control design, the actuator dynamics with respect to the tail rotor are introduced. The adaptive fault observer and robust item are employed to observe the actuator faults and eliminate the effect of external disturbances, respectively. A backstepping-based robust fault-tolerant control scheme is designed with the aim of obtaining satisfactory tracking performance and closed-loop system stability is proved via Lyapunov analysis, which guarantees the convergence of all closed-loop system signals. Simulation results are given to show the effectiveness of the proposed control method.

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μ-Synthesis and Hardware-in-the-loop Simulation of Miniature Helicopter Control System

Cited by 22 publications

References 19 publications

Robust control of unmanned helicopters with high-order mismatched disturbances via disturbance-compensation-gain construction approach

Robust control of unmanned helicopters with high-order mismatched disturbances via disturbance-compensation-gain construction approach

Nonlinear sliding sector design for multi‐input systems with application to helicopter control

Robust attitude fault-tolerant control for unmanned autonomous helicopter with flapping dynamics and actuator faults

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