Attitude control of 3-DOF helicopter based on Iterative Learning Control

Author

Zhang Xining ; Liu Chenglin ; Liu Fei

Author_Institution

Key Lab. of Adv. Process Control for Light Ind. (Minist. of Educ.), Jiangnan Univ., Wuxi, China

fYear

2012

fDate

6-8 July 2012

Firstpage

128

Lastpage

132

Abstract

Tracking control problems of the elevation and travel angles are investigated for 3-DOF (three degree of freedom) helicopter in this paper. By combining the normal PID controller based on LQR (linear quadratic regulator) and PID-type Iterative Learning Control, a new mixed controller is proposed for 3-DOF helicopter to achieve higher tracking accuracy. Compared with the normal PID controller based on LQR, the mixed controller can achieve better asymptotic converging effect for the control of the elevation and travel angles of 3-DOF helicopter. By the relatively small times of iteration, the system achieves quite high tracing accuracy under the mixed controller.

Keywords

aircraft control; attitude control; iterative methods; learning systems; linear quadratic control; three-term control; 3-DOF helicopter; LQR; PID controller; PID-type iterative learning control; asymptotic converging effect; attitude control; elevation tracking control problems; linear quadratic regulator; mixed controller; three degree of freedom helicopter; travel angle tracking control problems; Accuracy; Attitude control; Automation; Helicopters; Intelligent control; Laboratories; Regulators; 3-DOF helicopter; PID control; iterative learning control; tracking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6357853

Filename

6357853