H∞ robust controller for autonomous helicopter hovering control

Tijani, Ismaeel and Akmeliawati, Rini and Legowo, Ari and Budiyono, Agus and Asan Gani, Abdul Muthalif (2011) H∞ robust controller for autonomous helicopter hovering control. Aircraft Engineering and Aerospace Technology, 83 (6). ISSN 0002-2667

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Abstract

Among the major challenges associated with the deployment of autonomous small scale helicopters in civilian UAV applications is the requirement for reliable control scheme. This is due not only to the inherent complexity of the helicopter dynamics, but to the vulnerability of the system to various uncertainties as a result of difficulty in obtaining high fidelity dynamic model, nonlinearities, and external disturbances (e.g. wind gust). This has necessitated the recent research effort in developing reliable control scheme for autonomous helicopter applications. This work presents the development of robust controller for smooth hovering operation required for many autonomous-helicopter operations using H∞ loop shaping technique incorporating the Vinnicombe-gap (v-gap) metric for validation of robustness to uncertainties due to parameter variation in the system model. Simulation study was conducted to evaluate the performance of the designed controller for robust stability to uncertainty, disturbance rejection, and time-domain response in line with ADS-33E level1 requirements. The results obtained show the effectiveness of the designed controller.

Item Type:	Article (Journal)
Additional Information:	5806/2010
Uncontrolled Keywords:	H∞ loop shaping, v-gap metric, robust control, autonomous helicopter, hovering control
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	19 Sep 2011 11:29
Last Modified:	19 Apr 2012 13:54
URI:	http://irep.iium.edu.my/id/eprint/2010

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