Vertical manoeuvring and rotor speed robust control for mini-helicopter

Yuan Pu, Zongying Shi and Yisheng Zhong

International Journal of Systems Science, 2018, vol. 49, issue 6, 1316-1331

Abstract: A robust control approach is presented for vertical manoeuvring helicopters with aerodynamics acting on the main rotor. An induced inflow observer is applied which only requires the measured values of the vertical accelerator in the body frame. The controller consists of three parts: a feedback linearisation controller, a nominal controller and a robust compensator. Feedback linearisation is applied to decouple the vertical motion dynamics and the rotor speed dynamics; the nominal controller aims to achieve desired performances for the nominal system without external disturbances or uncertainties; and the robust compensator is designed to restrain the effect of the external disturbance and the uncertainties. It is proven that all the states involved are bounded and the tracking error of the actual system can converge into an arbitrary specified boundary in a finite time for any given initial state. The results of outdoor flight experiments show that the robust tracking performances are consistent with the theory analysis conclusions.

Date: 2018
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DOI: 10.1080/00207721.2018.1444213

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