Abstract
In this paper, an experimental study which takes account of variation of weight of a helicopter system is discussed. The weight changes of the helicopter system are modelled as unstructured uncertainties and the uncertainties are compensated by the proposed combined controller. That is, we divide uncertainties of the system into structured uncertainties and unstructured uncertainties. When the weight of the helicopter varies, an upper bound value of the unstructured uncertainties is evaluated and considered to control inputs. Comparing experiments between a former design method and the proposed design method show the effectiveness of the proposed method.
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