Abstract:

Considering the large rang robust control problem of an unmanned helicopter, a local H_∞ optimal linear parameter varying (LPV) velocity (LHOV) controller is designed. Firstly the nonlinear system of the helicopter is simplified as an LPV system with disturbances, then a H_∞static output feedback (HSOF) controller for every fixed flight mode independently is designed. The interpolation control technique is used to design an interpolated controller for every local controller. The interpolated controllers only include uncontrollable modes and unobservable modes, so the optimal H_∞ performance can be ensured when the helicopter flights in this mode. Finally, an LHOV controller is composed of these local controllers, and simulation results illustrate its good large rang stability and robustness.