Experimental results on robust optimal attitude feedback control of a model helicopter

Hao Liu; Jianxiang Xi; Yisheng Zhong

doi:10.1109/ECC.2014.6862151

Experimental results on robust optimal attitude feedback control of a model helicopter

Hao Liu
, Jianxiang Xi
, Yisheng Zhong

School of Artificial Intelligence(Institute of Artificial Intelligence)

Xi'an Research Institute of High Technology
Tsinghua University

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

Abstract

This paper addresses the robust optimal attitude control problem of a model helicopter without the angular velocity measurements. A nominal linear system is introduced, while the real system is considered as the nominal one added with uncertainties such as parameter uncertainties, nonlinear dynamics, and external disturbances. An observer is firstly applied to estimate the angular velocity; then, a nominal optimal controller is designed for the nominal system to achieve the desired tracking; lastly, a robust compensator is introduced to reduce the influences of the uncertainties existing in the real system. Robust stability and asymptotical tracking properties are proven. Experimental results on the model helicopter are given to demonstrate the effectiveness of the designed robust control method.

Original language	English
Title of host publication	2014 European Control Conference, ECC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	902-907
Number of pages	6
ISBN (Electronic)	9783952426913
DOIs	https://doi.org/10.1109/ECC.2014.6862151
State	Published - 22 Jul 2014
Event	13th European Control Conference, ECC 2014 - Strasbourg, France Duration: 24 Jun 2014 → 27 Jun 2014

Publication series

Name	2014 European Control Conference, ECC 2014

Conference

Conference	13th European Control Conference, ECC 2014
Country/Territory	France
City	Strasbourg
Period	24/06/14 → 27/06/14

Access to Document

10.1109/ECC.2014.6862151

Cite this

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title = "Experimental results on robust optimal attitude feedback control of a model helicopter",

abstract = "This paper addresses the robust optimal attitude control problem of a model helicopter without the angular velocity measurements. A nominal linear system is introduced, while the real system is considered as the nominal one added with uncertainties such as parameter uncertainties, nonlinear dynamics, and external disturbances. An observer is firstly applied to estimate the angular velocity; then, a nominal optimal controller is designed for the nominal system to achieve the desired tracking; lastly, a robust compensator is introduced to reduce the influences of the uncertainties existing in the real system. Robust stability and asymptotical tracking properties are proven. Experimental results on the model helicopter are given to demonstrate the effectiveness of the designed robust control method.",

author = "Hao Liu and Jianxiang Xi and Yisheng Zhong",

note = "Publisher Copyright: {\textcopyright} 2014 EUCA.; 13th European Control Conference, ECC 2014 ; Conference date: 24-06-2014 Through 27-06-2014",

year = "2014",

month = jul,

day = "22",

doi = "10.1109/ECC.2014.6862151",

language = "英语",

series = "2014 European Control Conference, ECC 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "902--907",

booktitle = "2014 European Control Conference, ECC 2014",

address = "美国",

}

Liu, H, Xi, J & Zhong, Y 2014, Experimental results on robust optimal attitude feedback control of a model helicopter. in 2014 European Control Conference, ECC 2014., 6862151, 2014 European Control Conference, ECC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 902-907, 13th European Control Conference, ECC 2014, Strasbourg, France, 24/06/14. https://doi.org/10.1109/ECC.2014.6862151

Experimental results on robust optimal attitude feedback control of a model helicopter. / Liu, Hao; Xi, Jianxiang; Zhong, Yisheng.
2014 European Control Conference, ECC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 902-907 6862151 (2014 European Control Conference, ECC 2014).

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

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N2 - This paper addresses the robust optimal attitude control problem of a model helicopter without the angular velocity measurements. A nominal linear system is introduced, while the real system is considered as the nominal one added with uncertainties such as parameter uncertainties, nonlinear dynamics, and external disturbances. An observer is firstly applied to estimate the angular velocity; then, a nominal optimal controller is designed for the nominal system to achieve the desired tracking; lastly, a robust compensator is introduced to reduce the influences of the uncertainties existing in the real system. Robust stability and asymptotical tracking properties are proven. Experimental results on the model helicopter are given to demonstrate the effectiveness of the designed robust control method.

AB - This paper addresses the robust optimal attitude control problem of a model helicopter without the angular velocity measurements. A nominal linear system is introduced, while the real system is considered as the nominal one added with uncertainties such as parameter uncertainties, nonlinear dynamics, and external disturbances. An observer is firstly applied to estimate the angular velocity; then, a nominal optimal controller is designed for the nominal system to achieve the desired tracking; lastly, a robust compensator is introduced to reduce the influences of the uncertainties existing in the real system. Robust stability and asymptotical tracking properties are proven. Experimental results on the model helicopter are given to demonstrate the effectiveness of the designed robust control method.

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Experimental results on robust optimal attitude feedback control of a model helicopter

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