JRM Vol.18 No.5 pp. 589-597
doi: 10.20965/jrm.2006.p0589


Gain Scheduling Controller Design for Two-Rotor Hovering System and its Experimental Verification

Makoto Yamashita*, Masami Saeki**, Nobutaka Wada**,
and Izumi Masubuchi**

*Morita Corporation, 1-11-1 Akashiadai, Sanda, Hyogo 180, Japan

**Department of Mechanical System Engineering, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan

November 15, 2005
December 27, 2005
October 20, 2006
gain scheduling control, two-rotor hovering system, flight control, experimental apparatus, LMIs

We propose two design methods of a gain scheduling controller for flight control of two-rotor hovering system. We first propose a method of converting whole dynamics of the hovering system to a linear parameter-varying (LPV) system at once. Secondly, we propose a method of linearizing longitudinal dynamics of the system exactly and converting remaining dynamics to an LPV system. In both cases, the state feedback gain scheduling controller is designed for the obtained LPV system by solving a convex optimization problem with linear matrix inequality (LMI) constraints. Experimental results show the effectiveness of the proposed methods.

Cite this article as:
Makoto Yamashita, Masami Saeki, Nobutaka Wada, and
and Izumi Masubuchi, “Gain Scheduling Controller Design for Two-Rotor Hovering System and its Experimental Verification,” J. Robot. Mechatron., Vol.18, No.5, pp. 589-597, 2006.
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Last updated on Feb. 25, 2021