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Composite Anti-Disturbance Reference Model L2-\(L_{\infty }\) Control for Helicopter Slung Load System

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Abstract

This work considers the anti-disturbance model reference L2-\(L_{\infty }\) 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 L2-\(L_{\infty }\) 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 L2-\(L_{\infty }\) performance. Finally, some simulation results are presented to show the effectiveness of the proposed methods.

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Acknowledgments

This work was supported in part by the National Natural Science Foundation of China under Grant 61803207; in part by the Key R & D projects (Social Development) in Jiangsu Province of China under Grant BE2020704; in part by the Joint fund of China Electronics Technology for Equipment Preresearch 6141B08231110a; in part by Jiangsu Province “333” project under Grant BRA2019051.

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Authors and Affiliations

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 211106, People’s Republic of China

    Lijun Liu, Mou Chen & Tao Li

  2. Fair Friend Institute of Intelligent Manufacturing, Hangzhou Vocational & Technical College, Hangzhou, 310018, People’s Republic of China

    Huijiao Wang

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  1. Lijun Liu
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  2. Mou Chen
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Correspondence to Mou Chen.

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Liu, L., Chen, M., Li, T. et al. Composite Anti-Disturbance Reference Model L2-\(L_{\infty }\) Control for Helicopter Slung Load System. J Intell Robot Syst 102, 15 (2021). https://doi.org/10.1007/s10846-020-01276-z

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