Abstract
The electric tail reduction system of the unmanned helicopter contains uncertainty. To solve this problem, a constraint-following approach was applied to design a novel robust control for uncertain mechanical systems. The dynamic model of the uncertain electric tail reduction system was established by combining the load of the electric tail rotor and the flight state of the helicopter. Based on the Udwadia–Kalaba theory, a robust constraint following the control method was proposed to deal with the uncertainty of the system. In addition, to balance the steady-state performance and control cost of the system, a control parameter optimization design method was proposed to minimize the performance index. Furthermore, the unique solution of the optimal parameter can be obtained. Compared with the LQR control method, the effectiveness of the optimization method of robust constraint following control was verified.
Highlights
In recent years, the application of unmanned aircraft systems (UAS) in the military and civil fields is attracting people’s attention and interest [1]
Compared with fixed-wing unmanned aerial vehicles (UAVs), the rotor UAV has the characteristics of vertical take-off and landing, hovering, and flight at very low altitude, so it is used in a wider spectrum of applications [2]
The dynamic equation of mechanical system with uncertainty can be obtained by the Udwadia–Kalaba theory [38]:
Summary
The application of unmanned aircraft systems (UAS) in the military and civil fields is attracting people’s attention and interest [1]. Unmanned electric helicopters have significant dynamic coupling, which is an inherently unstable and highly nonlinear underactuated system These factors lead to serious challenges in dealing with robustness, disturbance rejection, decoupling, and other control problems [5]. Udwadia proposed the tracking control of nonlinear mechanical systems based on the servo constraint control method [22,23,24,25]. He completed precise trajectory control with the advantage of less computation [26]. A constraint following control was proposed based on Udwadia–Kalaba theory regardless of the uncertainty in the electric tail reduction system. A control parameter optimization design method was proposed, which minimizes the system performance index
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