Disturbance Rejection for Systems with Nonlinearity via DOBC Approach: Application to a Helicopter Model

Abstract

In this paper, the anti-disturbance problem of a small helicopter system with external disturbances is investigated under the disturbance-observer-based control (DOBC) framework. Supposed that unknown external disturbances are generated by an exogenous system in which some classical assumptions about disturbances can be eliminated. In order to obtain satisfactory disturbance suppression performance, a reduced-order disturbance observer based on linear matrix inequality (LMI) is established. The disturbance observer can effectively suppress the disturbance and the system tends to be stable. Finally, the simulation of a helicopter system proves the effectiveness of the proposed method.KeywordsDisturbance-observer-based control (DOBC)Disturbance rejectionNonlinear systemsObserver design