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Disturbance Observer-based LQR Tracking Control for Unmanned Autonomous Helicopter Slung-load System

Lijun Liu, Mou Chen*, and Tao Li
International Journal of Control, Automation, and Systems, vol. 20, no. 4, pp.1166-1178, 2022

Abstract : This work investigates the optimal tracking control for unmanned autonomous helicopter (UAH) slungload system under external disturbance. Firstly, the linearized UAH slung-load system model is obtained by using the small perturbation linearization method, in which parameter uncertainty and disturbance are considered. Secondly, the control objective is described via a reference model, and the tracking controller is designed for the UAH slung-load system by using the reference model control approach, disturbance observer based-control (DOBC) scheme, and LQR control method. Thirdly, under the proposed tracking controller, the stability of the closed-loop system is analyzed on the basis of Lyapunov stability theory and linear matrix inequality (LMI) technique. Finally, some simulations and comparisons are presented to illustrate the proposed control method.

Keyword : Disturbance observer, LMI approach, LQR tracking control, model reference control, UAH slung-load system.

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