Acceleration-Feedback-Enhanced Robust Control of an Unmanned Helicopter

Abstract

While a few proposed control strategies have shown their acceptable effectiveness, performance improvement on stability and robustness of unmanned helicopters are still imperative and a great challenge due to strong nonlinearities, extensive parameter uncertainties and external disturbances when the flight condition is terrible, such as flight on a windy day. Because acceleration feedback control is advantageous in terms of simple controller structure and easy implementation, we attempt to incorporate it into the tracking control of an unmanned helicopter that is highly nonlinear and underactuated. In this paper, we use a prefilter to formulate a new acceleration feedback control and then use it as a robust enhancement for the H(infinity) algorithm to attenuate uncertainties and external disturbances involved in the tracking control of an unmanned helicopter. We conduct simulations with an unmanned model helicopter and compare the tracking performance of the helicopter with and without acceleration feedback control. The results show that the use of acceleration feedback control does enhance tracking performance greatly compared to the standard H(infinity) control.