Composite Anti-Disturbance Reference Model L2-L∞ Control for Helicopter Slung Load System

• Published in: Journal of intelligent & robotic systems Vol. 102; no. 1; p. 15
• Main Authors: Liu, Lijun, Chen, Mou, Li, Tao, Wang, Huijiao
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.05.2021; Springer Nature B.V
• Subjects: Artificial Intelligence; Control; Control methods; Control systems design; Controllers; Disturbance observers; Dynamical systems; Electrical Engineering; Engineering; Feedback control; Helicopter control; L-2 control; L-infinity control; Linear matrix inequalities; Mathematical analysis; Mechanical Engineering; Mechatronics; Model reference adaptive control; Model testing; Nonlinear dynamics; Output feedback; Regular Paper; Robotics; Robust control; State feedback; Disturbance observer; control; Reference model control; -; Dynamic output feedback control (DOFC); Helicopter slung load system
• ISSN: 0921-0296; 1573-0409
• DOI: 10.1007/s10846-020-01276-z

This work considers the anti-disturbance model reference L 2 - L ∞ control for the helicopter slung load system subject to unknown disturbances. Initially, a linear model is derived based on the nonlinear dynamics of a helicopter with slung load. The uncertainty and disturbances are jointly considered in the controller design. Then, by designing a disturbance observer and using robust L 2 - L ∞ control method, the state feedback control and dynamic output feedback control are respectively analyzed, and two sufficient conditions on deriving the observer gain and controller one are presented via the linear matrix inequality (LMI) form, which can guarantee the helicopter slung load system to asymptotically track the reference model with L 2 - L ∞ performance. Finally, some simulation results are presented to show the effectiveness of the proposed methods.