Robust Controller LMI for helicopter with two degrees of freedom
This article presents the design of a robust H∞ controller using techniques of linear matrix inequalities (LMIs) for controlling the position of Pitch and Yaw in a helicopter. Designing a FF + LMI controller is presented for stabilizing the system, and further the design of LMI + FF + integrator con...
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| Format: | Online |
| Language: | spa |
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Universidad Pedagógica y Tecnológica de Colombia - UPTC
2015
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| Online Access: | https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250 |
| _version_ | 1801706689049657344 |
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| author | Higuera-Martínez, Oscar Iván Salamanca, Juan Mauricio |
| author_facet | Higuera-Martínez, Oscar Iván Salamanca, Juan Mauricio |
| author_sort | Higuera-Martínez, Oscar Iván |
| collection | OJS |
| description | This article presents the design of a robust H∞ controller using techniques of linear matrix inequalities (LMIs) for controlling the position of Pitch and Yaw in a helicopter. Designing a FF + LMI controller is presented for stabilizing the system, and further the design of LMI + FF + integrator controller is performed to make the tracking error equal to zero. Thereafter the results of simulations are showed on the nonlinear system model and a comparison with FF+LQR and FF+LQR+I which were developed by device manufacturers. |
| format | Online |
| id | oai:oai.revistas.uptc.edu.co:article-4250 |
| institution | Revista Ingeniería, Investigación y Desarrollo |
| language | spa |
| publishDate | 2015 |
| publisher | Universidad Pedagógica y Tecnológica de Colombia - UPTC |
| record_format | ojs |
| spelling | oai:oai.revistas.uptc.edu.co:article-42502017-08-30T00:58:49Z Robust Controller LMI for helicopter with two degrees of freedom Controlador robusto LMI para un helicóptero de dos grados de libertad Higuera-Martínez, Oscar Iván Salamanca, Juan Mauricio robust control linear matrix inequalities nominal model nonlinear systems. control robusto desigualdades matriciales lineales modelo nominal sistema no lineal This article presents the design of a robust H∞ controller using techniques of linear matrix inequalities (LMIs) for controlling the position of Pitch and Yaw in a helicopter. Designing a FF + LMI controller is presented for stabilizing the system, and further the design of LMI + FF + integrator controller is performed to make the tracking error equal to zero. Thereafter the results of simulations are showed on the nonlinear system model and a comparison with FF+LQR and FF+LQR+I which were developed by device manufacturers. Este artículo presenta el diseño de un controlador robusto H∞ usando técnicas de desigualdades matriciales lineales (LMI), para controlar la posición de Pitch y de Yaw en un helicóptero. Se presenta el diseño de un controlador FF+LMI con el propósito de conseguir la estabilización del sistema, y adicionalmente se realiza el diseño de un controlador FF+LMI+Integrador, para hacer que el error de seguimiento sea igual a cero. Posteriormente se presentan los resultados de las simulaciones sobre el modelo no lineal del sistema, así como una comparación con los controladores FF+LQR y FF+LQR+I desarrollados por los fabricantes del dispositivo. Universidad Pedagógica y Tecnológica de Colombia - UPTC 2015-06-26 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion application/pdf https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250 10.19053/1900771X.4250 Ingeniería Investigación y Desarrollo; Vol. 15 No. 2: julio-diciembre de 2015; 47-57 Ingeniería Investigación y Desarrollo; Vol. 15 Núm. 2: julio-diciembre de 2015; 47-57 2422-4324 1900-771X spa https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250/3674 Derechos de autor 2015 Ingeniería Investigación y Desarrollo |
| spellingShingle | robust control linear matrix inequalities nominal model nonlinear systems. control robusto desigualdades matriciales lineales modelo nominal sistema no lineal Higuera-Martínez, Oscar Iván Salamanca, Juan Mauricio Robust Controller LMI for helicopter with two degrees of freedom |
| title | Robust Controller LMI for helicopter with two degrees of freedom |
| title_alt | Controlador robusto LMI para un helicóptero de dos grados de libertad |
| title_full | Robust Controller LMI for helicopter with two degrees of freedom |
| title_fullStr | Robust Controller LMI for helicopter with two degrees of freedom |
| title_full_unstemmed | Robust Controller LMI for helicopter with two degrees of freedom |
| title_short | Robust Controller LMI for helicopter with two degrees of freedom |
| title_sort | robust controller lmi for helicopter with two degrees of freedom |
| topic | robust control linear matrix inequalities nominal model nonlinear systems. control robusto desigualdades matriciales lineales modelo nominal sistema no lineal |
| topic_facet | robust control linear matrix inequalities nominal model nonlinear systems. control robusto desigualdades matriciales lineales modelo nominal sistema no lineal |
| url | https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250 |
| work_keys_str_mv | AT higueramartinezoscarivan robustcontrollerlmiforhelicopterwithtwodegreesoffreedom AT salamancajuanmauricio robustcontrollerlmiforhelicopterwithtwodegreesoffreedom AT higueramartinezoscarivan controladorrobustolmiparaunhelicopterodedosgradosdelibertad AT salamancajuanmauricio controladorrobustolmiparaunhelicopterodedosgradosdelibertad |
