抄録
In this research, we propose a scheme to design the control system of a small unmanned rotorcraft flying in ground effect. Several H∞ controllers can be designed to stabilize the rotorcraft at desired altitudes respectively. However, one of these controllers can stabilize the rotorcraft only in the corresponding region limited small. We introduce several domains of attraction in the state space of the control system concerning the H∞ controllers. In order to perform the altitude control of the rotorcraft flying in various altitudes near ground, we present a switching control law with these H∞ controllers and domains of attraction. The feasibility of the presented scheme is verified through several experiments.
