Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter (Q1433060)

The stability properties of a prediction-based discrete-time state-feedback controller together with a possibly unstable continuous-time input-delay object are explored. The continuous-time object is represented by the generalized linear discrete-time state-space model in which the uncertainties in system parameters, in the input delay, and in the nominal sampling period are taken into account. It is shown that the state of the closed-loop system converges to the origin in the cases of a stable and an unstable object. Also, the stability is proved to be robust with respect to the uncertainties in the parameters, delay, and in the sampling period. The proposed prediction-based controller is tested on a four-rotor mini-helicopter. Delays are introduced to the system due to image processing. The main characteristics of the control system environment are given. It is stated that the proposed controller has a satisfactory behavior when applied to the control of yaw displacement.