Disturbance rejection control of yaw channel of a small-scale unmanned helicopter via Takagi–Sugeno disturbance modeling approach. (20th October 2016)

• Record Type: Journal Article
• Authors: Fan, Xiangxiang; Yi, Yang; Zhang, Tianping
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 5(2016)
• Publication Date: 2016-10-20
• Subjects: Unmanned aerial vehicle -- disturbance observer-based control -- mismatched disturbance -- T-S fuzzy disturbance models; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881416671113
• Languages: English
• ISSNs: 1729-8806

Abstract

In this article, the disturbance estimation and rejection problem are discussed for the yaw channel dynamics of small-scale unmanned helicopter subject to mismatched disturbances. Following Takagi–Sugeno fuzzy description for unknown nonlinear disturbances, a composite control input is designed to attenuate the influence of mismatched disturbances in system output channel by combining state feedback control law, disturbance observer, and well-designed disturbance compensator. The satisfactory control performances can be verified using linear inequality optimization algorithm. Simulation results on a yaw channel dynamical system can reflect the feasibility and effectiveness of the proposed disturbance rejection approach.