TY - GEN
T1 - Robust attitude control for an unmanned helicopter in near-hover flights
AU - Marantos, Panos
AU - Dritsas, Leonidas
AU - Kyriakopoulos, Kostas J.
PY - 2013
Y1 - 2013
N2 - In this paper, a systematic procedure for designing robust attitude controllers for unmanned helicopters, based on mixed H2/H ∞ methodologies, is presented. Firstly, a family of linearized models describing the near-hover flight dynamics is derived which can be compactly formulated as a nominal plant perturbed by norm bound uncertainties on the system, control and wind matrices. It is then shown that a single robust controller can be designed guaranteeing stability, robustness and gust disturbance rejection for the whole near-hover flight envelope. Performance analysis and simulation results show that the proposed attitude control strategy can also satisfy the handling qualities defined in ADS-33E specification requirements. Finally, the attitude controller is used as a module in a total control scheme offering position tracking capabilities which is implemented in a real embedded system. The efficacy of the total control structure is proved by Hardware-In-the-Loop simulations on an accurate nonlinear helicopter model.
AB - In this paper, a systematic procedure for designing robust attitude controllers for unmanned helicopters, based on mixed H2/H ∞ methodologies, is presented. Firstly, a family of linearized models describing the near-hover flight dynamics is derived which can be compactly formulated as a nominal plant perturbed by norm bound uncertainties on the system, control and wind matrices. It is then shown that a single robust controller can be designed guaranteeing stability, robustness and gust disturbance rejection for the whole near-hover flight envelope. Performance analysis and simulation results show that the proposed attitude control strategy can also satisfy the handling qualities defined in ADS-33E specification requirements. Finally, the attitude controller is used as a module in a total control scheme offering position tracking capabilities which is implemented in a real embedded system. The efficacy of the total control structure is proved by Hardware-In-the-Loop simulations on an accurate nonlinear helicopter model.
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U2 - 10.23919/ecc.2013.6669825
DO - 10.23919/ecc.2013.6669825
M3 - Conference contribution
AN - SCOPUS:84893326207
SN - 9783033039629
T3 - 2013 European Control Conference, ECC 2013
SP - 347
EP - 352
BT - 2013 European Control Conference, ECC 2013
PB - IEEE Computer Society
T2 - 2013 12th European Control Conference, ECC 2013
Y2 - 17 July 2013 through 19 July 2013
ER -