System Identification and Robust Controller Design for the Autopilot of an Unmanned Helicopter

摘要

One of the most complex issues which are proposed in designing a controller for autopilots is robustness. This requirement is due to the dynamic model changes and also, the resistance to environmental disturbances. A main factor that changes the dynamic model of the helicopter autopilot is any change in body mass center, such as any additional load. Furthermore, wind is one of the main causes of environmental disturbances. In this paper model identification of four systems in helicopter by using real data is presented. For all systems robust H2/H_∞ and mixed sensitivity controller are designed. The simulation results show the robustness of designed controllers in the existence of uncertainty. The designed controller was implemented on the real case study. Results demonstrate the robustness of the system.