In this paper, a systematic procedure for designing Position Tracking controllers for Unmanned Helicopters, based on mature H_2/H_∞ methodologies, is presented. Firstly, a family of linearized models describing the near-hover flight dynamics is derived which can be formulated as a nominal plant perturbed by norm bounded uncertainties on the system, control and disturbance (wind gust) matrices. The full system dynamics is then decomposed into rotational (Inner) and translational (Outer) subsystems, and separate controllers are subsequently designed. Each controller guarantees stability, robustness and gust disturbance rejection for the whole near-hover flight envelope while appropriately selected closed-loop pole regions, justify the combination of the two controllers into a composite position control scheme. The efficacy of the proposed total control structure is proved by hardware-in-the-loop simulations on an accurate nonlinear helicopter model.
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机译：本文提出了一种基于成熟H_2 /H_∞方法的设计用于设计无人直升机的位置跟踪控制器的系统步骤。首先，推导出描述近悬停飞行动力学的线性化模型的系列，其可以作为系统，控制和干扰（风力阵风）矩阵上的常态不确定性扰乱的标称植物。然后，完整的系统动态被分解成旋转（内部）和平移（外）子系统，随后设计了单独的控制器。 Each controller guarantees stability, robustness and gust disturbance rejection for the whole near-hover flight envelope while appropriately selected closed-loop pole regions, justify the combination of the two controllers into a composite position control scheme.通过在精确的非线性直升机模型上通过硬件仿真证明了所提出的总控制结构的功效。
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