Robust Motion Controller Design and Implementation for Unmanned Helicopter

In this paper a novel robust controller is investigated for unmanned helicopter. Based on signal compensation theory, robust controllers are designed to enhance both rotational and translational tracking performance, as well as robust performance over parameter uncertainty and external disturbance. The designed robust controllers are time invariant and easy to realize. The full controllers are implemented on onboard avionics of a small scale unmanned helicopter THeli260 developed by Tsinghua University. Real flight experiments are successfully carried out, which shows advantage of designed robust controller.