Stable control for R/C helicopter

摘要

This paper presents stable control for an R/G helicopter whose degree of freedom is reduced by fixing at a (joint) point. The nonlinear model of the RIG helicopter is constructed. After simplifying the nonlinear dynamics, we replace the simplified nonlinear dynamics with a Takagi-Sugeno fuzzy model. The control purpose is to realize good speed of response as well as stabilization with small control effort from practical control points of view. We present a decay rate condition and an input constraint condition that realize good speed of response and avoidance of actuator saturations, respectively. Both of them are represented in terms of linear matrix inequalities (LMIs). By simultaneously solving them, we design a stable fuzzy controller that achieves good speed of response with small control effort.