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• W4206176908 abstract "This paper studies the multi-source disturbances attenuation problem on the yaw motion of unmanned aerial helicopter with a variable-speed rotor. The yaw motion subsystem dominated by an electrically-driven tail rotor is firstly introduced, and its trajectory accuracy requires particularly close attention. To this end, we establish a fourth-order yaw error dynamic equation; subsequently, a nonlinear robust control scheme based on optimal H∞ principle is developed, consisting of laws of virtual functions, parameter estimation and a compensation signal. The novelty of this scheme lies in unifying the techniques to deal with the uncertain parameters, noise perturbations, actuator output fault and external airflow turbulence into a simple framework. Stability analysis guarantees that the yaw closed-loop system has the predefined performance of disturbance suppression in the sense of a finite L2-gain. Comparison results with the extended state observer based backstepping controller verify the effectiveness and superior performance of proposed scheme in an aircraft prototype." @default.
• W4206176908 created "2022-01-25" @default.
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• W4206176908 date "2022-01-15" @default.
• W4206176908 modified "2023-09-30" @default.
• W4206176908 title "Nonlinear Robust Control on Yaw Motion of a Variable-Speed Unmanned Aerial Helicopter under Multi-Source Disturbances" @default.
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• W4206176908 doi "https://doi.org/10.3390/aerospace9010042" @default.
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