H∞ robust controller for autonomous helicopter hovering control

Among the major challenges associated with the deployment of autonomous small scale helicopters in civilian UAV applications is the requirement for reliable control scheme. This is due not only to the inherent complexity of the helicopter dynamics, but to the vulnerability of the system to various...

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Main Authors:	Tijani, Ismaeel, Akmeliawati, Rini, Legowo, Ari, Budiyono, Agus, Asan Gani, Abdul Muthalif
Format:	Article
Language:	English English
Published:	Emerald Group Publishing 2011
Subjects:	TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics
Online Access:	http://irep.iium.edu.my/2010/ http://irep.iium.edu.my/2010/ http://irep.iium.edu.my/2010/2/AEAT_rini.pdf http://irep.iium.edu.my/2010/5/-IT-H-_IT--DN-8-_DN-_robust.pdf

id	iium-2010
recordtype	eprints
spelling	iium-20102012-04-19T05:54:06Z http://irep.iium.edu.my/2010/ H∞ robust controller for autonomous helicopter hovering control Tijani, Ismaeel Akmeliawati, Rini Legowo, Ari Budiyono, Agus Asan Gani, Abdul Muthalif TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Among the major challenges associated with the deployment of autonomous small scale helicopters in civilian UAV applications is the requirement for reliable control scheme. This is due not only to the inherent complexity of the helicopter dynamics, but to the vulnerability of the system to various uncertainties as a result of difficulty in obtaining high fidelity dynamic model, nonlinearities, and external disturbances (e.g. wind gust). This has necessitated the recent research effort in developing reliable control scheme for autonomous helicopter applications. This work presents the development of robust controller for smooth hovering operation required for many autonomous-helicopter operations using H∞ loop shaping technique incorporating the Vinnicombe-gap (v-gap) metric for validation of robustness to uncertainties due to parameter variation in the system model. Simulation study was conducted to evaluate the performance of the designed controller for robust stability to uncertainty, disturbance rejection, and time-domain response in line with ADS-33E level1 requirements. The results obtained show the effectiveness of the designed controller. Emerald Group Publishing 2011 Article PeerReviewed application/pdf en http://irep.iium.edu.my/2010/2/AEAT_rini.pdf application/pdf en http://irep.iium.edu.my/2010/5/-IT-H-_IT--DN-8-_DN-_robust.pdf Tijani, Ismaeel and Akmeliawati, Rini and Legowo, Ari and Budiyono, Agus and Asan Gani, Abdul Muthalif (2011) H∞ robust controller for autonomous helicopter hovering control. Aircraft Engineering and Aerospace Technology, 83 (6). ISSN 0002-2667 http://www.emeraldinsight.com/journals.htm?issn=0002-2667&show=latest&PHPSESSID=41og0qnuq110ui9tejc09c1nh1
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Tijani, Ismaeel Akmeliawati, Rini Legowo, Ari Budiyono, Agus Asan Gani, Abdul Muthalif H∞ robust controller for autonomous helicopter hovering control
description	Among the major challenges associated with the deployment of autonomous small scale helicopters in civilian UAV applications is the requirement for reliable control scheme. This is due not only to the inherent complexity of the helicopter dynamics, but to the vulnerability of the system to various uncertainties as a result of difficulty in obtaining high fidelity dynamic model, nonlinearities, and external disturbances (e.g. wind gust). This has necessitated the recent research effort in developing reliable control scheme for autonomous helicopter applications. This work presents the development of robust controller for smooth hovering operation required for many autonomous-helicopter operations using H∞ loop shaping technique incorporating the Vinnicombe-gap (v-gap) metric for validation of robustness to uncertainties due to parameter variation in the system model. Simulation study was conducted to evaluate the performance of the designed controller for robust stability to uncertainty, disturbance rejection, and time-domain response in line with ADS-33E level1 requirements. The results obtained show the effectiveness of the designed controller.
format	Article
author	Tijani, Ismaeel Akmeliawati, Rini Legowo, Ari Budiyono, Agus Asan Gani, Abdul Muthalif
author_facet	Tijani, Ismaeel Akmeliawati, Rini Legowo, Ari Budiyono, Agus Asan Gani, Abdul Muthalif
author_sort	Tijani, Ismaeel
title	H∞ robust controller for autonomous helicopter hovering control
title_short	H∞ robust controller for autonomous helicopter hovering control
title_full	H∞ robust controller for autonomous helicopter hovering control
title_fullStr	H∞ robust controller for autonomous helicopter hovering control
title_full_unstemmed	H∞ robust controller for autonomous helicopter hovering control
title_sort	h∞ robust controller for autonomous helicopter hovering control
publisher	Emerald Group Publishing
publishDate	2011
url	http://irep.iium.edu.my/2010/ http://irep.iium.edu.my/2010/ http://irep.iium.edu.my/2010/2/AEAT_rini.pdf http://irep.iium.edu.my/2010/5/-IT-H-_IT--DN-8-_DN-_robust.pdf
first_indexed	2023-09-18T20:09:32Z
last_indexed	2023-09-18T20:09:32Z
_version_	1777407384408293376

H∞ robust controller for autonomous helicopter hovering control

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