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Journal of Control Science and Engineering
Volume 2015, Article ID 483096, 8 pages
http://dx.doi.org/10.1155/2015/483096
Research Article

Robust Control for Lateral and Longitudinal Channels of Small-Scale Unmanned Helicopters

The School of Electronic Information and Automation, Guilin University of Aerospace Technology, Guilin 541004, China

Received 26 March 2015; Accepted 16 August 2015

Academic Editor: Zoltan Szabo

Copyright © 2015 Bao Feng. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Lateral and longitudinal channels are two closely related channels whose control stability influences flight performance of small-scale unmanned helicopters directly. This paper presents a robust control approach for lateral and longitudinal channels in the presence of parameter uncertainties and exogenous disturbances. The proposed control approach is performed by two steps. First, by performing system identification in frequency domain, system model of lateral and longitudinal channels can be accurately identified. Then, a robust state feedback controller is designed to stabilize the helicopter in lateral and longitudinal channels simultaneously under extraneous disturbances situation. The proposed approach takes advantages that it reduces order of the controller by preestimating some parameters (like flapping angles) without sacrificing control accuracy. Numerical results show the reliability and effectiveness of the proposed method.