LQR-based attitude controllers design for a 3-DOF helicopter system with comparative experimental tests

被引：5

作者：

Zhao, Tianao ^{[1
]}

Li, Wei ^{[2
]}

机构：

[1] Shanghai Maritime Univ, Logist Engn Coll, Shanghai 201306, Peoples R China

[2] Nanjing Univ Aeronaut & Astronaut, Coll Civil Aviat, Nanjing 211106, Peoples R China

来源：

INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL | 2023年 / 12卷 / 4期

基金：

中国国家自然科学基金;

关键词：

3-DOF helicopter; Robust LQR attitude controller; LPV-based robust LQR attitude controller; Weight adaptation-based LQR attitude controller; Comparative experimental tests; TRACKING CONTROL; ROBUST LQR; SELECTION;

D O I：

10.1007/s40435-023-01242-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a comparative study of different linear quadratic regulator (LQR)-based attitude controllers design for a 3-DOF helicopter system. Firstly, dynamics model of 3-DOF helicopter system is established. Then, three LQR-based attitude controllers are designed, which are robust LQR attitude controller, linear parameter varying (LPV)-based robust LQR attitude controller and weight adaptation-based LQR attitude controller are developed for the helicopter system, respectively. Finally, based on the Quanser's 3-DOF helicopter experimental platform, the stability and tracking performance of these three attitude controllers are tested under three conditions including normal condition, actuator fault and wind disturbance. Based on the experimental results, some discussions are carried out, which are expected to provide some guidance for the design of flight control system.

引用

页码：1063 / 1072

页数：10

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