Uncertainty modeling of nonlinear 2-DOF helicopter model

Abstract

This paper proposes the modeling of uncertainty design of a two degree of freedom (2-DOF) nonlinear helicopter model with nine uncertain parameters. This approach is developed based on a robust μ-synthesis control tool for a laboratory helicopter model known as twin rotor multi-input multi-output system (TRMS). The goal of control is robust stabilization of position of TRMS by considering nonlinearity and uncertainties of the system. The percentage of uncertainty is introduced in the model and motor parameters for the robust control of TRMS. Simulation results show the frequency response analysis of open loop interconnection of TRMS. The singular value of the frequency response is evaluated for the dynamic TRMS plant. The position response of uncertain linearized model of TRMS is also analyzed.