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Nonlinear Robust Continuous Control of a 3 Degree of Freedom (DOF) Helicopter
Kaiyan Yang,Bin Xian * #,Xindong Li,Yanping Yu,Shen Diao
School of Electrical Engineering and Automation, Tianjin University
*Correspondence author
#Submitted by
Subject:
Funding: 博士点新教师基金（No.200800561061）
Opened online:15 June 2009
Accepted by: none
Citation: Kaiyan Yang,Bin Xian,Xindong Li.Nonlinear Robust Continuous Control of a 3 Degree of Freedom (DOF) Helicopter[OL]. [15 June 2009] http://en.paper.edu.cn/en_releasepaper/content/33126
 
 
In this paper, we proposed a nonlinear robust control design for a 3 degree of freedom (DOF) helicopter test-bed which may be subjected to unknown external dis- turbance and contains structure uncertainties. Regulation and tracking control design are proposed for the angles of elevation, pitch and travel axes. Numerical simulation results are provided to illustrate that the proposed con- trollers achieve good performance and the closed loop sys- tems obtain good robustness with respect to system un- certainties and disturbances.
Keywords:3-DOF heilcopter;nonlinear;uncertainty;tracking
 
 
 

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