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Robust Decentralized Control for a Two DOF Helicopter Using Coefficient Diagram Method

机译：基于系数图法的两自由度直升机的鲁棒分散控制

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摘要

this paper presents the application of a decentralized control strategy to a 2 Degree of Freedom (DOF) helicopter.First,the multivariable plant is decomposed into single input single output systems by means of the Individual Channel Analyse and Design (ICAD) approach,and then the decentralized feedback controllers are designed by the Coefficient Diagram Method (CDM).The feed-forward compensators are also designed based on the interactively reference input of the opposite channel subsequently,which is used for improving the tracking performance of control commands.The effectiveness and robustness of the method is verified by simulation and experimental results.
机译：本文介绍了分散控制策略在2自由度（DOF）直升机上的应用。首先，通过个体通道分析与设计（ICAD）方法将多变量工厂分解为单输入单输出系统，然后分散反馈控制器是通过系数图法（CDM）设计的。前馈补偿器还基于反向通道的交互式参考输入进行设计，以提高控制命令的跟踪性能。仿真和实验结果验证了该方法的鲁棒性。

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