Title :
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
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;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
