The H_Infinity Robust Control Algorithm of the 3-DOF Four Rotors System

Abstract

The 3-DOF four rotors system is a typical high-order, nonlinear, multi-variable and strong coupling complex system. the motion equations of the yaw, pitch and roll axes can simulate the flight characteristics of the actual helicopter. It is usually difficult to establish the accurate mathematical model for the influence of the parameter perturbation and the external disturbance. According to this instance, the mixed sensitivity robust control method is proposed to improve the system control qualities. the simulation results shown that the controller can make the 3-DOF helicopter system have good robust stability and dynamic performance when the model object parameters exist uncertainty.