H∞ attitude control of 3-DOF unmanned helicopter system based on event-triggered mechanism
Zhouxi Sun · 2023
In this paper, H∞attitude control of 3-DOF unmanned helicopter is studied. Based on Quanser's 3-DOF helicopter experiment platform, the state space model of helicopter error dynamic system is established. Based on this model, an H∞controller based on event-triggered mechanism is designed to save communication resources. Based on Lyapunov stability theory, we use linear matrix inequalities (LMIs) to obtain sufficient conditions for the exponential stability of the system with H∞performance index. Finally, the effectiveness of the controller in attitude angle tracking and reducing the burden of communication network is verified by numerical simulation.