다중 전기식 테일로터 헬리콥터를 위한 강인 분산제어법칙 설계

초록

In this paper, we propose the design of a distributed control law for a helicopter reconfigured from a single tail-rotor to four tail-rotors. The proposed control law ensures that the reconfigured tail-rotors effectively generate the thrust previously produced by the single tail-rotor. In particular, considering potential variations in the dynamic characteristics of the tail-rotors due to environmental factors, the proposed control law takes the variations into account and so makes the helicopter system robust against such uncertainties. A simple control gain adjustment is utilized in the control design, making the implementation practical and efficient. Furthermore, the proposed design enables rapid uncertainty estimation and real-time control gain adjustment, preventing the helicopter system from destabilization due to the uncertainties at an early stage.

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