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H-Infinity Control System Design for a Small Scale Autonomous Helicopter with Nonlinear Dynamics and Uncertainties

Taesam Kang


The challenging task to deal with the rotorcraft control system is due to its complexity and instability. Helicopter dynamics is tremendously more complex compared to that of the fixed wing aircraft. Main rotor and tail rotor act
simultaneously as control surfaces and forces and moments generators, causing helicopter difficult to control. In this paper, we designed a H-infinity based controller and applied it to a nonlinear model of a small scale unmanned helicopter to check the performance degradation of the controller designed using a linear model. It is shown that the H-infinity controller works well even though it is designed using linear model approximation.

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