Linear matrix inequalities based state feedback and reference feedforward actuator saturated H-infinity control of small-scale unmanned helicopter

Mert Sever, Gulay Goktas, Hakan Yazici, Ibrahim Beklan Kucukdemiral

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this study, systematic procedure of the flight controller design for a small-scale unmanned helicopter is presented. The procedure is based on a linear dynamical model. The proposed controller is composed of state feedback and reference feedforward. Reference tracking performance is formulated in terms of L2 gain from reference inputs to tracking errors and respective integral terms. Solution of the optimal controller with minimum L2 gain is cast to the semi definite programming problem with a set of Linear Matrix Inequality (LMI) constraints. Six degree-of-freedom linear helicopter model with two degree of freedom rotor dynamics is used to illustrate the effectiveness of approach through simulations. Numerical simulations show that the stability of controlled system and boundedness of control signals against reference trajectories with bounded magnitudes are guaranteed by the proposed controller.

Original languageEnglish
Title of host publication2015 9th International Conference on Electrical and Electronics Engineering (ELECO)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages801-805
Number of pages5
ISBN (Electronic)9786050107371
DOIs
Publication statusPublished - 1 Feb 2016
Event9th International Conference on Electrical and Electronics Engineering - Bursa, Turkey
Duration: 26 Nov 201528 Nov 2015
http://www.eleco.org.tr/ELECO2015/index.htm (Link to conference website )

Conference

Conference9th International Conference on Electrical and Electronics Engineering
Abbreviated titleELECO 2015
Country/TerritoryTurkey
CityBursa
Period26/11/1528/11/15
Internet address

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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