Theory and Experiments on Robust LQR Attitude Control of a 3-DOF Lab Helicopter
会议名称：《第三十届中国控制会议》
会议日期：2011年
学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程]
基 金：supported by National Nature Science Foundation under Grant 60674017 and 60736024
关 键 词：Nonlinear Control Robust LQR Control 3-DOF Lab Helicopter
摘 要：正This paper presents theory analysis and experimental results of a robust linear quadratic regulator（LQR） attitude control strategy for a three degree-of-freedom（DOF） lab *** control goal is to acquire the optimal performances in mild maneuvers,as well as having them preserved under aggressive maneuvers.A novel controller is proposed with three parts: a nominal feedforward controller,a nominal LQR state feedback controller and a robust *** nominal parts are applied to deal with a nominal linear error system derived by linearizing parameters and the robust compensator is designed to restrain the effect of uncertainties and nonlinear *** proof and experimental results demonstrate the effectiveness of the control strategy implemented on the 3-DOF helicopter from Quanser Company.