Trajectory tracking of 3-DOF lab helicopter by robust LQR
| Autor: | A. Vivek, S. Sini, J L Nandagopal |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Feedback control 020208 electrical & electronic engineering Linear system Control engineering 02 engineering and technology Tracking (particle physics) Compensation (engineering) Computer Science::Robotics Nonlinear system 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Trajectory business Parametric statistics |
| Zdroj: | 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT). |
| Popis: | A robust LQR control strategy for the effective trajectory tracking of a 3-DOF laboratory model helicopter is discussed. Parametric uncertainties and various external disturbances are considered in the system. The newly designed control strategy includes the feedback control by linear quadratic regulation (LQR) controller and the disturbance compensation technique. Initially the linearized model of the nominal nonlinear laboratory helicopter is obtained and a linear quadratic regulation controller is designed for the nominal linear system, and a disturbance compensator is added to the system, to reduce the effects of the external disturbances. The trajectory tracking errors of the system is reduced under various disturbances by using the proposed scheme. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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