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Robust MIMO H∞ Integral-Backstepping PID Controller for Hovering Control of Unmanned Model Helicopter

Endra Joelianto

Abstract


The problem of stabilization of model helicopter in a hover configuration subject to parametric uncertainty and external disturbances is addressed. In the paper, MIMO PID control law is reformulated into a full state feedback control law in order to syntesize the controller using robust H∞ control theory. In full state feedback representation, it appears that PID controller has implicit integral-backstepping structure. Therefore, it can be introduced a new parameter ρ which acts on the derivative of the control signal. The parameters of MIMO PID controller are then obtained by solving algebraic Riccati equation by selecting the value of ρ and γ. Simulation with respect to a model helicopter is carried out to verify the performance of the proposed controller to stabilize the uncertain helicopter model and to suppres external disturbances.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2009.v5.562

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