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Comparison of control strategies for a 2 DOF helicopter

Roshan Sharma
Department of Electrical Engineering, IT, and Cybernetics, University College of Southeast Norway, Norway

Carlos F. Pfeiffer
Department of Electrical Engineering, IT, and Cybernetics, University College of Southeast Norway, Norway

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp17138271

Ingår i: Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th – 27th, 2017

Linköping Electronic Conference Proceedings 138:36, s. 271-279

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Publicerad: 2017-09-27

ISBN: 978-91-7685-417-4

ISSN: 1650-3686 (tryckt), 1650-3740 (online)

Abstract

The two degrees of freedom (2-DOF) helicopter is an openloop unstable multi-variable process. Various control strategies can be applied to stabilize the system for tracking and regulation problems but not all control methods show equal capabilities for stabilizing the system. This paper compares the implementation of a classical PID controller, a linear quadratic regulator with integral action (LQR+I) and a model predictive controller (MPC) for stabilizing the system. It has been hypothesized that for such an unstable MIMO (multi input multi output) process showing cross coupling behavior, the model based controllers produces smoother control inputs than the classical controller. The paper also discusses the necessity of including the derivative part of the PID controller for stabilization and its influence to the measurement noises. A Kalman filter used for estimating unmeasured states may produce bias due to model mismatch. The implementation and comparison is based on a 2-DOF experimental helicopter prototype.

Nyckelord

2-DOF helicopter, MPC, LQR, PID, Kalman filter, qpOASES

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