Robust H_∞ attitude control of a laboratory helicopter

摘要

This paper deals with the attitude tracking control problem for a three degree-of-freedom laboratory helicopter, which aims to improve tracking control performances of elevation and pitch channels. The model of each channel is considered as a linear system with equivalent disturbances which contain nonlinear uncertainties, coupling effects, parameter perturbations, and external disturbances. A state-feedback H_∞ controller is applied to the linear model and a robust compensator is introduced to restrain the effects of equivalent disturbances. The robust properties of the closed-loop control system with the proposed controller are shown better than the standard H_∞ controller. Experimental results demonstrate the improved performances of the proposed control strategy.