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Considering the high order of the unmanned helicopter's model and the immeasurability of the flapping states and the state of one order approximate model of yaw rate gyro dynamics, it is conservative to use the standard static output feedback control. The present paper designs a structured H∞ controller based on H∞ extended static output feedback (HESOF) control. This method divides the systems to inner-loop and outer-loop control structure and using a precompensator and a postcompensator to shape the singular values of the nominal plant to attenuate the high frequency disturbance of measuerement, then design a HESOF control using the output and its derivatives as feedback states. Therefore, it can improves the structured H∞ controller's performance. As an example, a design for hover of an unmanned helicopter is presented. The simulation results show that using this method can obtain excellent decoupling and robust performance. [ABSTRACT FROM PUBLISHER]

Considering the small inertia and quick response of angular velocity of the miniature unmanned helicopters, an inner-outer loop nonlinear controller is presented based on the simplified model. In the inner loop, a robust H∞ static output controller is designed to control the angular velocity. And in the outer loop, a pole assignment method is used to control the position and yaw angle after dynamic transformation of control surface. Then the controller is compensated for the whole model. The obtained control method has solved the problem of the difficulty of the nonlinear controller to be implemented, and obtains good trajectory tracking performance. At last, simulation results illustrate its high stability, robustness and good trajectory tracking performance. [ABSTRACT FROM PUBLISHER]

This paper considers the robust static output feedback control of a miniature helicopter with parameter uncertainties and wind gust disturbances. A sufficient H2/LMI condition is derived for suboptimal controllers of uncertain system. Then by iterative LMI algorithm, the robust static output feedback controller is designed for the helicopter system with uncertainties. In the end, simulation results are given to validate the control method. [ABSTRACT FROM PUBLISHER]