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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Robust LQR Attitude Control of a 3-DOF Laboratory Helicopter for Aggressive Maneuvers
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Robust LQR Attitude Control of a 3-DOF Laboratory Helicopter for Aggressive Maneuvers

机译：用于自由机动的3自由度实验室直升机的鲁棒LQR姿态控制

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摘要

Robust attitude control problem for a three-degree-of-freedom (3-DOF) laboratory helicopter is investigated. The helicopter dynamics involves nonlinearity, uncertainties, and strong interaxis coupling. A robust controller is proposed with three parts: a nominal feedforward controller, a nominal linear quadratic regulation (LQR) controller, and a robust compensator. The LQR controller is applied to deal with a nominal linear error system derived by the feedforward control strategy and linearized approximation, while the robust compensator is designed to restrain the effects of uncertainties, nonlinear properties, and external disturbances. It is shown that the attitude tracking error of the closed-loop system can be guaranteed to converge to any given small neighborhood of the origin in a finite time. Experimental results on the 3-DOF laboratory helicopter demonstrate the effectiveness of the proposed control strategy.
机译：研究了三自由度（3-DOF）实验室直升机的鲁棒姿态控制问题。直升机动力学涉及非线性，不确定性和强大的轴间耦合。提出了一种鲁棒控制器，它由三部分组成：标称前馈控制器，标称线性二次调节（LQR）控制器和鲁棒补偿器。 LQR控制器用于处理由前馈控制策略和线性近似得出的标称线性误差系统，而鲁棒补偿器设计用于抑制不确定性，非线性特性和外部干扰的影响。结果表明，可以保证闭环系统的姿态跟踪误差在有限的时间内收敛到原点的任何给定小邻域。在3自由度实验室直升机上的实验结果证明了所提出的控制策略的有效性。

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