Modeling, system identification and robust control of a coaxial micro helicopter

In this paper the design process of robust H∞H∞- control for a coaxial micro helicopter is presented. The process starts with the development of a nonlinear dynamic model reflecting all the important elements of the helicopter. The corresponding system parameters are identified using measurement data from test benches and real flight, as well as a nonlinear identification tool, the Covariance Matrix Adaptation Evolution Strategy (CMA-ES). The identified and verified model is then used for the design of H∞H∞- controllers for attitude and heave control, which are successfully tested in flight on the real system.