Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance
Christos K. Verginis, Charalampos P. Bechlioulis, A. G. Soldatos, Dimitris Tsipianitis
Abstract
This article presents a robust control scheme for the trajectory tracking problem of a three-degree-of-freedom helicopter with prescribed transient and steady-state performance. The control design does not employ any information regarding the dynamics of the system. In addition, the transient and steady-state response of the system with respect to a given time-varying trajectory is <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> and explicitly imposed by certain designer-specified performance functions and is fully decoupled from the control gain selection and the dynamic model parameters. Finally, both simulation and experimental results verify the theoretical findings.