Abstract
Helicopter dynamics are generally non linear, unstable with interaxis coupling as well. Moreover, disturbance and parametric uncertainties make traditional control structure, as PID controller, usually not effective to stabilize this system. This paper focuses on modelling and real time robust control of 3-DOF Helicopter. This study presents an improved H∞ controller for this aerial vehicle. The model of 3-DOF Helicopter is developed as a differential equations and in order to reduce the complexity of the standard H∞ structure, a fixed order control design is proposed. Simulation and experimental results are given to demonstrate the consistency of the suggested control, through a comparative study with a classical PID and standard H∞ controllers. Simulation and experimental results in the presence of the noise disturbance prove the effectiveness of the proposed control strategy.
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