|Table of Contents|

Robust non-fragile H controller design method for small-scale unmanned helicopter


Research Field:
Publishing date:


Robust non-fragile H controller design method for small-scale unmanned helicopter
Xia HuiChen Qingwei
School of Automation,NUST,Nanjing 210094,China
small-scale unmanned helicopter non-fragile robust H control parameter perturbation time delay nonlinear term state equation Lyapunov function
Considering the delay,uncertainty and nonlinear dynamics of small-scale unmanned helicopters,a robust non-fragile H controller design method for a small-scale unmanned helicopter model is proposed with nonlinearity and time delay.Firstly,the helicopter system is described as a state equation with parameter perturbation,time delay and nonlinear term.Then,sufficient condition for the existence of the H non-fragile robust controller is given based on Lyapunov function.Simulation results validate the robustness and non-fragility of the proposed method.


[1] 陈皓生,陈大融.微型直升机动力学建模的研究现状[J].飞行力学,2003,21(3):1-5.
Chen Haosheng,Chen Darong.Current researches on the micro-helicopter's dynamics modeling[J].Flight Dynamic,2003,21(3):1-5.
Chunyu Jiangmin,Zhang Heng.Prospect and status of unmanned aerial vehicle[J].Aerodynamic Missile Journal,2005(2):23-27.
[3]Valavanis K P.Advances in unmanned aerial vehicles state of the art and the road to autonomy,intelligent systems,control and automation:Science and engineering[M].Berlin,Germany:Springer-Verlag,2007:73-114.
[4]Bramwell A R S,Done G,Balmford D.Bramwell's helicopter dynamics[M].2nd ed.Oxford,UK:Butterworth-Heinemann,2001:77-114.
[6]沈超,路泽永,赵亚丽,等.VTOL 直升机的鲁棒非脆弱H控制[J].系统仿真学报,2009,21(28):5807-5811.
Shen Chao,Lu Zeyong,Zhao Yali,et al.Robust non-fragile H control for VTOL helicopter[J].Journal of System Simulation,2009,21(28):5807-5811.
Wu Jiancheng,Wo Songlin.Non-fragile guaranteed cost control and H control for nonlinear singular systems with delay[J].Journal of Nanjing University of Science and Technology,2011,35(1):26-30.
[8]Lien C H.Non-fragile guaranteed cost control for uncertain neutral dynamic systems with time-varying delays in state and control input[J].Chaos,Solitons & Fractals,2007,31(4):889-899.
[9]Wang C,Shen Y.Delay-dependent non-fragile robust stabilization and H control of uncertain stochastic systems with time-varying delay and nonlinearity[J].Journal of the Franklin Institute,2011; 348(8):2174-2190.
[10]Hu H,Jiang B,Yang H.Non-fragile H2 reliable control for switched linear systems with actuator faults[J].Signal Processing,2013,93(7):1804-1812.
[11]Ren J C,Zhang Q L.Non-fragile PD state H control for a class of uncertain descriptor systems[J].Applied Mathematics and Computation,2012,218(17):8806-8815.
[12]Boyd S,Ghaoui L E,Feron E,et al.Linear matrix inequalities in system and control theory[M].Philadelphia,PA,USA:SIAM,1994.
[13]Chilali M,Gahinet P,Apkarian P.Robust pole-placement in LMI regions[J].IEEE Transactions on Automatic Control,1999,44(12):2257-2270.
[14]Scherer C,Gahinet P,Chilali M.Multi-objective output-feedback control via LMI optimization[J].IEEE Transactions on Automatic Control,1997:42(7):896-911.
Meng Xinyu,Ning Hui,Wang Daobo,et al.Non-fragile control of system with coprime factor perturbations[J].Journal of Taiyuan University of Technology,2012,43(6):723-731.
Hao Zhihong,Yu Peng.Non-fragile robust H control for time-delay systems with uncertainties[J].Computing Technology and Automation,2011,30(3):24-28.
[17]ElBsat Mohammad N,Yaz E E.Robust and resilient finite-time bounded control of discrete-time uncertain nonlinear systems[J].Automatica,2013,49(7):2292-2296.
[18]Song Jun,He Shuping.Nonfragile robust finite-time L2-L controller design for a class of uncertain Lipschitz nonlinear systems with time-delays[J].Abstract and Applied Analysis,2013:95427025.
[19]Chen Lin.Unfragile guaranteed-cost H control of uncertain state-delay sampling system[J].Procedia Engineering,2012,29:3359-3363.
[20]Chen Miao,Wang Daobo,Wang Zhisheng,et al.Non-fragile control for UMH with pole constraints[A].2010 Chinese Control and Decision Conference[C].Xuzhou:IEEE,2010:541-545.
[21]Wu Ligang,Yang Xuebo,Li Fanbiao.Nonfragile output tracking control of hypersonic air-breathing vehicles with an LPV model[J].IEEE-ASME Transactions on Mechatronics,2013,18(4):1280-1288.
[22]Wang Cheng,Shen Yi.Delay-dependent non-fragile robust stabilization and H control of uncertain stochastic systems with time-varying delay and nonlinearity[J].Journal of the Franklin Institute,2011,348(8):2174-2190.
Xia Hui,Chen Qingwei,Wang Guanlin,et al.Identification modelling of coupling between longitudinal and lateral angular dynamics of small-scale unmanned helicopter[J].Information and Control,2012,41(1):102-109.
[23]Mettler B.Identification modeling and characteristics of miniature rotorcraft[M].New York,USA:Springer US,2003.
[24]Raptis I A,Valavanis K P,Vachtsevanos G J.Linear tracking control for small-scale unmanned helicopters[J].IEEE Transactions on Control Systems Technology,2012,20(4):995-1010.


Last Update: 2015-06-30