Robust Controller Design for 3DOF Helicopter Model

Robustness is an important indicator for helicopter. By means of LQR and fuzzy theory, this paper presents a novel robust controller for the helicopter model with three degree of freedom(3DOF). Firstly, LQR controller is utilized to ensure the static property. And then, the integral sliding surface and a new switching logic are adopted to enhance the robustness to disturbance. Finally, the control law is adjusted via fuzzy logic so as to achieve the better performance. It is illustrated from experiment results that the proposed methodology is of better robustness and dynamic properties.