Robust decentralized control for a two DOF helicopter using Coefficient Diagram Method

Author

Ke Ji ; Wang Wei ; Li Aijun ; Wang Changqing

Author_Institution

Sch. of Autom., Northwestern Polytech. Univ., Xi´an, China

fYear

2013

Firstpage

5538

Lastpage

5543

Abstract

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.

Keywords

compensation; decentralised control; feedback; feedforward; helicopters; robust control; ICAD; coefficient diagram method; control commands; decentralized feedback controllers; feedforward compensators; individual channel analyse and design; multivariable plant; robust decentralized control; robustness; single input single output systems; two DOF helicopter; Adaptive control; Decentralized control; Helicopters; Polynomials; Robustness; Stability criteria; and robustness; coefficient diagram method; helicopter; nonlinear;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640405