Robust Control of a Tandem Helicopter with Variable Payload

Abstract

The present work aims at showing that structured H∞ synthesis can tune a unique controller for a tandem helicopter with different payload configurations. First, the rotorcraft dynamics is modeled, including the variable payload and its impact on the centre of mass and inertia. The controller architecture imposed by the manufacturer’s autopilot is then presented. In order to tune this controller, the design problem is cast in the framework of structured H∞ synthesis, in particular by using Matlab function systune, whose multi-model synthesis capabilities are exploited. The synthesis is performed on a family of linear models obtained by linearising the tandem helicopter dynamics in hover conditions for different mass and payload configurations. The controller is then validated on a nonlinear simulation of the rotorcraft dynamics.