Robust H-infinity Tracing Control of 3-DOF Helicopter Model

摘要

The stability and anti-jamming of 3-DOF helicopter model system are weak because of non-linearity and parameter uncertainty, so H-infinity mixed sensitivity laws are adopted to design trajectory tracking controller. Firstly, the bounded non-linear parameters are transformed into the uncertainty of parameters and added by inherent parameters perturbation it composes the linear uncertainty model. The H-infinity control method based on mixed sensitivity is adopted. By setting the weighting function of sensitivity and complementary sensitivity, the multitask controller of disturbance rejection and robust tracking is translated to a stander H-infinity controller of regulate problem. Simulation results demonstrate that the trajectory of helicopter attitude tracks well and system robust stability is improved.