Robust Attitude Control of Helicopters with Three-Degree Freedom Based on Intermittent Event-Triggered Mechanism

Abstract

In the field of the widely used helicopter, this paper studies whether the helicopters with three-degree freedom (3DOF helicopters) have a new control method of stable attitude. Therefore, two research methods are adopted. One is to use intermittent control, so as to achieve control stability in a short time without its inputting. The other is to find and update the time needed to meet the next control through the event-triggered mechanism. A theorem is given to prove the feasibility of these methods, and Lyapunov’s second law is also applied in this paper to analyze the stability of the model designed for robust attitude control. Besides, we use the linear matrix inequality solver to solve the feedback gain of the controller in the theorem. Finally, through MATLAB simulation, the system error state of helicopters tends to zero under intermittent control, which highlights the advantages of short communication time and few times of simulation, thus achieving the simulation goal.

Keywords

• intermittent control
• event-triggered mechanism
• helicopter homeostatic control
• lmi toolbox