Multilayer hierarchical control for robotic coax-helicopter based on the H robustness and mixing control scheme

• Main Authors: Yan-li Chen, Jing-chun Qin, Zhi-yan Dong, Shun-an Liu, Heng-liang Zheng
• Format: Article
• Language: English
• Published: SAGE Publishing 2017-10-01
• Series: Advances in Mechanical Engineering
• Online Access: https://doi.org/10.1177/1687814017720088

The control scheme of a robotic coax-helicopter was investigated and a control scheme was proposed to simultaneously satisfy not only nominal performance and robust performance but also the complexity, flexibility, and computation of controller design. The complete dynamics was considered including flapping dynamics and inflow velocities. A robotic coax-helicopter dynamic model was reasonable divided into three subsystems to separately design controller based on the analysis of singularity value of the output and each inputs with fully considering the couplings. Every subsystem controller design was based on the comparisons in the performance and design complexity among the previous H ∞ loop-shaping method, the existed linear matrix inequality method, and the proposed method. A sufficient set of solvability conditions are addressed to provide a flexible performance index design for the longitudinal and lateral velocity subsystems controller. Meanwhile, the pitch–roll attitude subsystem controller was designed taking use of the previous full-order H ∞ loop-shaping method. The existed linear matrix inequality method was applied the heave–yaw subsystem because of its low computational complexity. Finally, simulations were implemented to show the effectiveness of the selection of each part’s controller law in the proposed control scheme.