Robust Attitude Control of a 3-DOF Helicopter considering Communication Delays

被引：0
|
作者：
Peng, Huachao [1 ]
Zhu, Xiaoyuan [1 ]
机构：
[1] Shanghai Maritime Univ, Merchant Marine Coll, Shanghai 201306, Peoples R China
来源：
PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE | 2020年
基金：
中国国家自然科学基金;
关键词：
Robust attitude control; Unmanned helicopter; Communication delays; LMI; TRACKING CONTROL; SYSTEMS;
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 proposed a robust attitude controller design for unmanned helicopter under remote communication delays. Based on dynamical model of helicopter system, Lyapunov-Krasovskii theory is utilized in the stability analysis of proposed attitude controller design. Energy-to-energy strategy is used to ensure the robust performance of proposed controller against remote communication delays as well as payload disturbances. And the controller gains are obtained by solving a set of linear matrix inequalities (LMI). Based on Quanser's laboratory 3-DOF helicopter platform, both simulation and experimental tests are carried out to show the effectiveness and performance of proposed robust attitude controller. Compared with conventional sliding mode controller, the superiority of proposed controller is demonstrated.
引用
收藏
页码：6780 / 6785
页数：6
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