Abstract
AbstractThere has been an increasing need for autonomous helicopters to have the ability to perform aggressive maneuvers. To achieve this, robust and high performance controllers are required to accurately drive the helicopters. In this paper, the robust compensator (RC) technique is applied to the classic finite‐horizon LQR approach to deal with the uncertainties, including nonlinearities, external disturbances, and other interference. The robust properties of the proposed method are analyzed, and it is proved that the RC can eliminate the effects of the uncertainties as expected. The effectiveness of the proposed method is shown through simulations and real experiments of a prototype helicopter.
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