An adaptive robust guaranteed cost controller design and its application to the yaw control of helicopter

摘要

This paper discusses the adaptive robust guaranteed cost tracking control problem of linear systems. with time-varying uncertainties. The bounds of varying uncertainty ellipsoidal are obtained by set membership identification method. The proposed adaptive robust controller consists of a constant gain determined by the nominal system and a variable gain tuned by the designed adaptive laws. The application of this approach to the yaw control of a small-scale helicopter mounted on an experiment platform shows the effectiveness.