Composite nonlinear H∞ based output feedback controller for an un-crewed helicopter in its hover flight

Abstract

PurposeThis paper aims to propose output feedback-based control algorithms for the flight control system of a scaled, un-crewed helicopter in its hover flight mode.Design/methodology/approachThe proposed control schemes are based on H∞ control and composite nonlinear control. The gains of the output feedback controllers are obtained as the solution of a set of linear matrix inequalities (LMIs).FindingsIn the proposed schemes, the finite-time convergence of system states to trim condition is achieved with minimum deviation from the steady-state. As the proposed composite nonlinear output feedback design improves the transient response, it is well suited for a scaled helicopter flight. The use of measured output vector instead of the state vector or its estimate for feedback provides a simple control structure and eliminates the need for an observer in real-time application. The proposed control strategies are relevant to situations in which a simple controller is essential due to economic factors, reliability and hardware implementation constraints.Practical implicationsThe proposed control strategies are relevant to situations in which a simple controller is essential due to economic factors, reliability and hardware implementation constraints. They also have significance in applications where the number of measurement quantities needs to be minimized such as in a fully functional rotor-craft unmanned aerial vehicle.Social implicationsThe developed output feedback control algorithms can be used in small-scale helicopters for numerous civilian and military applications.Originality/valueThis work addresses the LMI-based formulation and solution of an output feedback controller for a hovering un-crewed helicopter. The stability and robustness of the closed-loop system are proved mathematically and the performance of the proposed schemes is compared with an existing strategy via simulation studies.