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The complicated dynamics of Rotorcraft-based Unmanned Aerial Vehicles (RUAVs) leads to both parametric and dynamic uncertainty. This paper introduces a hybrid control method that combines robust H2 control and adaptive control to deal with time-varying uncertainties of RUAVs. Using adaptive method, a new variable gain controller is designed to compensate the effect of uncertainty on systems. This...
This paper presents a robust H2 controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The yaw dynamic system is linearized into a linear system, which is modelled by an affine uncertainty model. A new robust H2 feedback controller with adaptive mechanisms is proposed for the linear system. The feedback gains are obtained by the solutions of...
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