Theory and Experiments on Robust LQR Attitude Control of a 3-DOF Lab Helicopter
This paper presents theory analysis and experimental results of a robust linear quadratic regulator (LQR) attitude control strategy for a three degree-of-freedom (DOF) lab helicopter. The control goal is to acquire the optimal performances in mild maneuvers,as well as having them preserved under aggressive maneuvers. A novel controller is proposed with three parts: a nominal feedforward controller,a nominal LQR state feedback controller and a robust compensator. The nominal parts are applied to deal with a nominal linear error system derived by linearizing parameters and the robust compensator is designed to restrain the e.ect of uncertainties and nonlinear properties. Theory proof and experimental results demonstrate the e.ectiveness of the control strategy implemented on the 3-DOF helicopter from Quanser Company.
LIU Hao LU Geng ZHONG Yisheng
Department of Automation,Tsinghua University,Beijing 100084,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）