TY - GEN
T1 - Real time fixed order robust H∞ orientation control for 3-DOF helicopter
AU - Chabir, Alaa
AU - Boukhnifer, Moussa
AU - Bouteraa, Yassine
AU - Chaibet, Ahmed
AU - Ghommam, Jawhar
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/4
Y1 - 2015/12/4
N2 - Helicopter dynamics are generally non linear, unstable with interaxis coupling as well. Moreover, disturbance and parametric uncertainties make traditional control structure, as PID controller, usually not effective to stabilize this system. This paper focuses on modelling and real time robust control of 3-DOF Helicopter. This study presents an improved H∞ controller for this aerial vehicle. The model of 3-DOF Helicopter is developed as a differential equations and in order to reduce the complexity of the standard H∞ structure, a fixed order control design is proposed. Simulation and experimental results are given to demonstrate the consistency of the suggested control, through a comparative study with a classical PID and standard H∞ controllers. Simulation and experimental results in the presence of the noise disturbance prove the effectiveness of the proposed control strategy.
AB - Helicopter dynamics are generally non linear, unstable with interaxis coupling as well. Moreover, disturbance and parametric uncertainties make traditional control structure, as PID controller, usually not effective to stabilize this system. This paper focuses on modelling and real time robust control of 3-DOF Helicopter. This study presents an improved H∞ controller for this aerial vehicle. The model of 3-DOF Helicopter is developed as a differential equations and in order to reduce the complexity of the standard H∞ structure, a fixed order control design is proposed. Simulation and experimental results are given to demonstrate the consistency of the suggested control, through a comparative study with a classical PID and standard H∞ controllers. Simulation and experimental results in the presence of the noise disturbance prove the effectiveness of the proposed control strategy.
UR - http://www.scopus.com/inward/record.url?scp=84962772739&partnerID=8YFLogxK
U2 - 10.1109/SSD.2015.7348215
DO - 10.1109/SSD.2015.7348215
M3 - Conference contribution
AN - SCOPUS:84962772739
T3 - 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015
BT - 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015
Y2 - 16 March 2015 through 19 March 2015
ER -