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题名: Robust H-2 control with adaptive mechanism for the Yaw control of small-scale helicopter
作者: Zhao XG(赵新刚) ; Jiang Z(姜哲) ; Qi JT(齐俊桐) ; Han JD(韩建达) ; Liu GJ(刘光军)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期: December 17-20, 2006
会议地点: Kunming, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1197-1202
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0570-1
关键词: helicopter ; robust control ; adaptive control ; uncertainty ; H-2 conlrol
摘要: This paper presents a robust H-2 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 H-2 feedback controller with adaptive mechanisms is proposed for the linear system. The feedback gains are obtained by the solutions of a series of linear matrix inequalities (LMIs). The design approach reduces conservatism inherent in robust control with a fixed gain controller and improves performances in time-response. Numerical simulations illustrate the effectiveness of the proposed methods.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8862
Appears in Collections:机器人学研究室_会议论文

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