Attitude control for unmanned helicopter using h-infinity loop-shaping method

Mingyun Lv; Yanpeng Hu; Peng Liu

doi:10.1109/MEC.2011.6025819

Attitude control for unmanned helicopter using h-infinity loop-shaping method

Mingyun Lv^*
, Yanpeng Hu
, Peng Liu

^*Corresponding author for this work

School of Aeronautic Science and Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

The aim of this paper is to design an attitude controller of an unmanned helicopter using h-infinity and loop-shaping methods. A pre-compensator and a post-compensator are selected to modify the singular values of the normal system to get a desired loop shape. The h-infinity feedback controller is synthesized and the stability margin is calculated. The simulation results show that the attitude controller designed with robust performance has a good response performance, and h-infinity and loop-shaping methods can make unmanned helicopter have an excellent decoupling and dynamic performance.

Original language	English
Title of host publication	Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011
Pages	1746-1749
Number of pages	4
DOIs	https://doi.org/10.1109/MEC.2011.6025819
State	Published - 2011
Event	2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011 - Jilin, China Duration: 19 Aug 2011 → 22 Aug 2011

Publication series

Name	Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

Conference

Conference	2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011
Country/Territory	China
City	Jilin
Period	19/08/11 → 22/08/11

Keywords

controller
h-infinity
loop-shaping
simulation
unmanned helicopter

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10.1109/MEC.2011.6025819

Cite this

Lv, M., Hu, Y., & Liu, P. (2011). Attitude control for unmanned helicopter using h-infinity loop-shaping method. In Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011 (pp. 1746-1749). Article 6025819 (Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011). https://doi.org/10.1109/MEC.2011.6025819

@inproceedings{b1b125750f83445ca10fa579187786b2,

title = "Attitude control for unmanned helicopter using h-infinity loop-shaping method",

abstract = "The aim of this paper is to design an attitude controller of an unmanned helicopter using h-infinity and loop-shaping methods. A pre-compensator and a post-compensator are selected to modify the singular values of the normal system to get a desired loop shape. The h-infinity feedback controller is synthesized and the stability margin is calculated. The simulation results show that the attitude controller designed with robust performance has a good response performance, and h-infinity and loop-shaping methods can make unmanned helicopter have an excellent decoupling and dynamic performance.",

keywords = "controller, h-infinity, loop-shaping, simulation, unmanned helicopter",

author = "Mingyun Lv and Yanpeng Hu and Peng Liu",

year = "2011",

doi = "10.1109/MEC.2011.6025819",

language = "英语",

isbn = "9781612847221",

series = "Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011",

pages = "1746--1749",

booktitle = "Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011",

note = "2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011 ; Conference date: 19-08-2011 Through 22-08-2011",

}

Lv, M, Hu, Y & Liu, P 2011, Attitude control for unmanned helicopter using h-infinity loop-shaping method. in Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011., 6025819, Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011, pp. 1746-1749, 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011, Jilin, China, 19/08/11. https://doi.org/10.1109/MEC.2011.6025819

Attitude control for unmanned helicopter using h-infinity loop-shaping method. / Lv, Mingyun; Hu, Yanpeng; Liu, Peng.
Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011. 2011. p. 1746-1749 6025819 (Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hu, Yanpeng

AU - Liu, Peng

PY - 2011

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N2 - The aim of this paper is to design an attitude controller of an unmanned helicopter using h-infinity and loop-shaping methods. A pre-compensator and a post-compensator are selected to modify the singular values of the normal system to get a desired loop shape. The h-infinity feedback controller is synthesized and the stability margin is calculated. The simulation results show that the attitude controller designed with robust performance has a good response performance, and h-infinity and loop-shaping methods can make unmanned helicopter have an excellent decoupling and dynamic performance.

AB - The aim of this paper is to design an attitude controller of an unmanned helicopter using h-infinity and loop-shaping methods. A pre-compensator and a post-compensator are selected to modify the singular values of the normal system to get a desired loop shape. The h-infinity feedback controller is synthesized and the stability margin is calculated. The simulation results show that the attitude controller designed with robust performance has a good response performance, and h-infinity and loop-shaping methods can make unmanned helicopter have an excellent decoupling and dynamic performance.

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KW - h-infinity

KW - loop-shaping

KW - simulation

KW - unmanned helicopter

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DO - 10.1109/MEC.2011.6025819

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SN - 9781612847221

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BT - Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

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Y2 - 19 August 2011 through 22 August 2011

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Lv M, Hu Y, Liu P. Attitude control for unmanned helicopter using h-infinity loop-shaping method. In Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011. 2011. p. 1746-1749. 6025819. (Proceedings 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011). doi: 10.1109/MEC.2011.6025819

Attitude control for unmanned helicopter using h-infinity loop-shaping method

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