Reduced-Order Static L2-Gain Control of Rotorcraft with Guaranteed Rotor–Fuselage Stability

Abstract

A reduced-order control design method for rotorcraft is proposed in this work. Explicit constraints on the closed-loop fuselage–rotor stability are considered in the fuselage dynamics-based control design, aiming for the [Formula: see text]-gain performance for the fuselage dynamics under pole placement constraints and the guaranteed fuselage–rotor stability. Sufficient conditions for the control design problem are presented, formulated as a feasibility problem based on bilinear matrix inequalities. Such an NP-hard problem is approximated using convex relaxation techniques and the cone complementary linearization method, leading to an iterative control design algorithm. An altitude–velocity vector tracking concept is also proposed in this work, integrated with the proposed control design method to design rotorcraft trajectory controllers. Performance of the resultant rotorcraft trajectory controllers is examined via numerical simulations against representative maneuvers from the ADS-33E specification.