<i>H<sub>2</sub></i> control for model helicopter in hover

Moo Seok Kim; Joon Ki Kim; Jeong Yup Han; Hong Bae Park; Soon Ju Kang

doi:10.1117/12.664592

2 May 2006 H₂ control for model helicopter in hover

Moo Seok Kim, Joon Ki Kim, Jeong Yup Han, Hong Bae Park, Soon Ju Kang

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 604215 (2006) https://doi.org/10.1117/12.664592
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

This paper presents mathematical model of six degree-of-freedom (6-DOF) helicopter (ERGO50) in hover, and H₂ feedback controller which is a powerful technique for the MIMO system as a helicopter. Mathematical model of the helicopter is multi-input multi-output (MIMO) and linearized system which accommodates aerodynamics. H₂ controller based on optimal control theory is used in a myriad application and plays an important role as a valuable precursor to other advanced methods for future work, when we need to improve stability of the helicopter. We design linear-quadratic-gaussian controller as H₂ controller. Simulation results show good performance.

Citation Download Citation

Moo Seok Kim, Joon Ki Kim, Jeong Yup Han, Hong Bae Park, and Soon Ju Kang "H₂ control for model helicopter in hover", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 604215 (2 May 2006); https://doi.org/10.1117/12.664592

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