Abstract
A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operation points is described as a MIMO time-varying uncertain nonlinear system with unknown constant parameters, bounded disturbance and nonlinear uncertainty, and a robust output feedback control method based on signal compensation is proposed. A controller designed by this method consists of a nominal controller and a robust compensator. The controller is linear time-invariant and can be realized easily. Robust attitude tracking property of closed-loop system is proven and experimental results show that the designed control system can guarantee high precision robust attitude control under multi-operation points.
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This research is supported by the National Natural Science Foundation of China under Grant Nos. 60674017 and 60736024.
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Yu, Y., Zhong, Y. Robust attitude control of a 3DOF helicopter with multi-operation points. J Syst Sci Complex 22, 207–219 (2009). https://doi.org/10.1007/s11424-009-9157-7
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DOI: https://doi.org/10.1007/s11424-009-9157-7