Title: Attitude control system design and application on a helicopter experimental system

Authors: Mingcong Deng, Akira Inoue

Addresses: Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan. ' Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan

Abstract: In this paper, an experimental study which takes account of variation of weight of a helicopter system is discussed. The weight changes of the helicopter system are modelled as unstructured uncertainties and the uncertainties are compensated by the proposed combined controller. That is, we divide uncertainties of the system into structured uncertainties and unstructured uncertainties. When the weight of the helicopter varies, an upper bound value of the unstructured uncertainties is evaluated and considered to control inputs. Comparing experiments between a former design method and the proposed design method show the effectiveness of the proposed method.

Keywords: helicopters; attitude control; combined control; weight variation; modelling; unstructured uncertainties; nonlinear dynamics.

DOI: 10.1504/IJMIC.2008.021477

International Journal of Modelling, Identification and Control, 2008 Vol.4 No.4, pp.373 - 382

Published online: 28 Nov 2008 *

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