H-inf 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 u...

Full description

Bibliographic Details
Main Authors:	Tijani, Ismaila, Akmeliawati, Rini, Legowo , Ari, Budiyono, Agus, Abdul Muthalif, Asan Gani
Format:	Article
Language:	English
Published:	Emerald 2011
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://irep.iium.edu.my/3653/ http://irep.iium.edu.my/3653/ http://irep.iium.edu.my/3653/1/AEAT_Submission.pdf

id	iium-3653
recordtype	eprints
spelling	iium-36532011-10-11T02:31:59Z http://irep.iium.edu.my/3653/ H-inf robust controller for autonomous helicopter hovering control Tijani, Ismaila Akmeliawati, Rini Legowo , Ari Budiyono, Agus Abdul Muthalif, Asan Gani TA Engineering (General). Civil engineering (General) 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 2011 Article PeerReviewed application/pdf en http://irep.iium.edu.my/3653/1/AEAT_Submission.pdf Tijani, Ismaila and Akmeliawati, Rini and Legowo , Ari and Budiyono, Agus and Abdul Muthalif, Asan Gani (2011) H-inf 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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Tijani, Ismaila Akmeliawati, Rini Legowo , Ari Budiyono, Agus Abdul Muthalif, Asan Gani H-inf 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, Ismaila Akmeliawati, Rini Legowo , Ari Budiyono, Agus Abdul Muthalif, Asan Gani
author_facet	Tijani, Ismaila Akmeliawati, Rini Legowo , Ari Budiyono, Agus Abdul Muthalif, Asan Gani
author_sort	Tijani, Ismaila
title	H-inf robust controller for autonomous helicopter hovering control
title_short	H-inf robust controller for autonomous helicopter hovering control
title_full	H-inf robust controller for autonomous helicopter hovering control
title_fullStr	H-inf robust controller for autonomous helicopter hovering control
title_full_unstemmed	H-inf robust controller for autonomous helicopter hovering control
title_sort	h-inf robust controller for autonomous helicopter hovering control
publisher	Emerald
publishDate	2011
url	http://irep.iium.edu.my/3653/ http://irep.iium.edu.my/3653/ http://irep.iium.edu.my/3653/1/AEAT_Submission.pdf
first_indexed	2023-09-18T20:11:33Z
last_indexed	2023-09-18T20:11:33Z
_version_	1777407511662428160

H-inf robust controller for autonomous helicopter hovering control

Similar Items