Abstract
In this article, the disturbance estimation and rejection problem are discussed for the yaw channel dynamics of small-scale unmanned helicopter subject to mismatched disturbances. Following Takagi–Sugeno fuzzy description for unknown nonlinear disturbances, a composite control input is designed to attenuate the influence of mismatched disturbances in system output channel by combining state feedback control law, disturbance observer, and well-designed disturbance compensator. The satisfactory control performances can be verified using linear inequality optimization algorithm. Simulation results on a yaw channel dynamical system can reflect the feasibility and effectiveness of the proposed disturbance rejection approach.
Highlights
Due to the ubiquity of unknown disturbances in many practical processes, anti-disturbance control has been playing an essential role in the field of control theory.[1]
It is noted that most of the existed disturbance observerbased control (DOBC) approaches are based on matched condition
DOBC approach for systems subject to mismatched disturbances has lead a new upsurge of research, and many elegant approaches base on DOBC have been respectively proposed for different control systems
Summary
Due to the ubiquity of unknown disturbances in many practical processes, anti-disturbance control has been playing an essential role in the field of control theory.[1]. A linear controller has been designed for the linearized small-scale unmanned helicopter model in specific conditions (see the study by Cai et al.[26]).
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