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μ-Synthesis and Hardware-in-the-loop Simulation of Miniature Helicopter Control System

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Abstract

The aim of this paper is to describe in detail the μ-synthesis of a miniature helicopter integral attitude controller of high order and to present results from the hardware-in-the-loop simulation of this controller implementing Digital Signal Processor. The μ-controller designed allows to suppress efficiently wind disturbances in the presence of 25 % input multiplicative uncertainty. A simple position controller is added to ensure tracking of the desired trajectory in 3D space. The results from hardware-in-the-loop simulation are close to the results from double-precision simulation of helicopter control system in Simulink®. The software platform developed allows to implement easily different sensors, servoactuators and control laws and to investigate the closed-loop system behavior in presence of different disturbances and parameter variations.

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Authors and Affiliations

  1. Department of Systems and Control, Technical University of Sofia, 1000 Sofia, Bulgaria

    L. Mollov, J. Kralev, T. Slavov & P. Petkov

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  1. L. Mollov
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  2. J. Kralev
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  3. T. Slavov
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  4. P. Petkov
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Correspondence to P. Petkov.

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Mollov, L., Kralev, J., Slavov, T. et al. μ-Synthesis and Hardware-in-the-loop Simulation of Miniature Helicopter Control System. J Intell Robot Syst 76, 315–351 (2014). https://doi.org/10.1007/s10846-014-0033-x

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  • DOI: https://doi.org/10.1007/s10846-014-0033-x

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