Robust Attitude Control of a 3-DOF Helicopter considering Communication Delays
作者单位：Merchant Marine CollegeShanghai Maritime University
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程]
关 键 词：Robust attitude control Unmanned helicopter Communication delays LMI
摘 要：This paper proposed a robust attitude controller design for unmanned helicopter under remote communication *** on dynamical model of helicopter system, Lyapunov-Krasovskii theory is utilized in the stability analysis of proposed attitude controller design. Energy-to-energy strategy is used to ensure the robust performance of proposed controller against remote communication delays as well as payload disturbances. And the controller gains are obtained by solving a set of linear matrix inequalities（LMI）. Based on Quanser’s laboratory 3-DOF helicopter platform, both simulation and experimental tests are carried out to show the effectiveness and performance of proposed robust attitude controller. Compared with conventional sliding mode controller, the superiority of proposed controller is demonstrated.