Time-delay uncertain robust optimal control on unmanned helicopter based on dynamic inversion
SUN Wen-da1, LI Ping1,2, FANG Zhou2
1. Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China; 2. School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China
A dynamic inversion control technology was proposed to achieve autonomous cruise of unmanned helicopter at a speed of large range. The fast dynamics flapping motion was aproximated to be quasi static in order to solve the problem that the plant model was non-affine and the flapping states were not measurable, which led to the application difficulty of exact feedback linearization method conventionally used. The rotational dynamics of unmanned helicopter was feedback linearized by incremental nonlinear dynamic inversion technology. The equivalent time constant of main rotor and stabilizer bar was treated as the lag time of the inner loop generalized linear object in order to compensate the model distortion due to the quasi static assumption of rotor flapping. The uncertain delay dependent H-infinity optimal control method was applied to design inner controller considering the model errors and systematic disturbances. The simulation and flight experiments demonstrate that this control method can effectively implement nonlinear control to the cruising unmanned helicopter with model uncertainty, and results in a noticeable attitude track performance.
SUN Wen-da, LI Ping, FANG Zhou. Time-delay uncertain robust optimal control on unmanned helicopter based on dynamic inversion. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2015, 49(7): 1326-1334.
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