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This paper deals with the problem of robust tracking control with adaptation mechanism. A linear time-invariant system with time-varying ellipsoidal uncertainty is considered. The proposed controller affinely depends on the estimations of parameters, which are adjusted on-line according to the error between the state trajectory of the plant and that of target model. The application of this approach...
This paper discusses the adaptive robust guaranteed cost tracking control problem of linear systems, with time-varying uncertainties. The bounds of varying uncertainty ellipsoidal are obtained by set membership identification method. The proposed adaptive robust controller consists of a constant gain determined by the nominal system and a variable gain tuned by the designed adaptive laws. The application...
This paper describes recent research on system design of a small-scaled rotorcraft UAV (RUAV) system and a control scheme for model-scaled helicopter. The small-scaled UAV helicopter is to be designed as a test bed for the implementation of new nonlinear control theories. The full system has been tested successfully in the manual operation and obtained useful data, which is to be analyzed and used...
This paper discusses the yaw control of small-size unmanned helicopter. The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. With respect to such a complicated dynamics, the normal PID control is difficult to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a valid...
This paper presents a new robust 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. We proposed a novel robust LQR feedback controller with adaptive mechanisms for the linear system with guaranteed control performance. The feedback...
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...
This paper presents a new robust 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. We proposed a novel robust Hinfin feedback controller with adaptive mechanisms for the linear system with guaranteed control performances. The feedback...
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