Adaptive robust LQR control with the application to the yaw control of small-scale helicopter

被引：0
|
作者：
Zhao, Xingang [1 ]
Jiang, Zhe [1 ]
Han, Jianda [1 ]
Liu, Guangjun [1 ]
机构：
[1] Shenyang Inst Automat, Robot Lab, Nanta St 114, Shenyang 110016, Peoples R China
来源：
IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2006年
关键词：
helicopter; robust control; adaptive control; uncertainty; LQR control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
-This paper presents a new robust controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The yaw dynamic system is linearized into a linear system, which is modelled by an affine uncertainty model. We proposed a novel robust LQR feedback controller with adaptive mechanisms for the linear system with guaranteed control performance. The feedback gains are obtained by the solutions of a series of linear matrix inequalities (LMls). The design approach reduces conservatism inherent in robust control with a fixed gain controller and improves performances in time-response. Numerical simulations illustrate the theoretical developments.
引用
收藏
页码：1002 / +
页数：2
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