期刊
CONTROL ENGINEERING PRACTICE
卷 18, 期 7, 页码 700-711出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2010.02.004
关键词
Helicopter; Control; H-infinity; Identification; Model; Mixed sensitivity problem
资金
- European Commission [FP6-2005-IST-5, FP6-IST-034120]
In this paper the design process of robust H-infinity- control for a coaxial micro helicopter is presented. The process starts with the development of a nonlinear dynamic model reflecting all the important elements of the helicopter. The corresponding system parameters are identified using measurement data from test benches and real flight, as well as a nonlinear identification tool, the Covariance Matrix Adaptation Evolution Strategy (CMA-ES). The identified and verified model is then used for the design of H-infinity- controllers for attitude and heave control, which are successfully tested in flight on the real system. (c) 2010 Elsevier Ltd. All rights reserved.
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