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第三十九届中国控制会议

作者： Mengjie Lu Xiaoyuan Zhu Tianzhen Wang School of Logistics Engineering Shanghai Maritime University Merchant Marine College Shanghai Maritime University

Fault estimation plays an important role in health monitoring as well as fault tolerant control, which can help ensure the reliability and safety of helicopter system. As the helicopter is a typical nonlinear, strong coupling and unstable system, its fault estimation design is challenging. Besides, it is also of great risk and cost to conduct experimental validation of different fault estimation schemes for real helicopter system. Thus, this paper is intended to conduct comparative research of fault estimation for helicopter system with table-mount experimental platform. Based on helicopter’s dynamic model, four observer-based fault estimation approaches are presented, in which Luenberger observer, Kalman filter, unknown input observer, and modified proportional-integral-derivative observer design are adopted separately. For the modified proportional-integral-derivative observer based fault estimation design, measurement noise is specifically considered. Based on Quanser’s 3-dof helicopter system, both simulation and experimental tests are carried out to show the performance differences of these fault estimation approaches.

关键词： fault estimation 3-dof helicopter observer design comparative study

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Hardware in the Loop Experimental Study of 3-dof helicopter

Hardware in the Loop Experimental Study of 3-DOF Helicopter

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第30届中国控制与决策会议

作者： Ju Zhang Tian zheng Wenqiang Cui Minchao Liu Zhijiang College Zhejiang University of Technology

A helicopter flight control system is a typical multi-input, multi-output system with strong channel-coupling and nonlinear characteristics. In order to cope with the problems encountered in current controller design, three control methods including H2 control, Hinf control and mix H2/Hinf control for regulation and tracking problem of a 3-Degree-of-Freedom(3-dof) helicopter are presented. By analyzing the helicopter system, a state-space representation of the system is established according to the characteristics of each degree-of-freedom motion. Then we designed the H2 controller, Hinf controller and mix H2/Hinf controller, and implemented these controllers by using MATLAB LMI toolbox. All these three control methods are discussed and compared with each other. Numerical study of the three controllers for tracking of a 3-dof helicopter are conducted, and a hardware-in-the-loop experimental study of the three controllers of the 3-dof helicopter is made for regulation and tracking problem. To analyze the robust performances of helicopter control system, an Active Mass Disturbance System interference is considered. Numerical simulation and HIL experimental studies show that H2 control is valid and has a satisfactory performance for a 3-dof helicopter and the Hinf control could increase the robustness of the 3 dof helicopter system while the mix H2/Hinf control has the both advantages of the H2 and H controller.

关键词： robust control 3-dof helicopter hardware in the loop mixed H2/Hinf tracking experiment

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （dof） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-dof helicopter Nonlinear Robust control Asymptotic tracking

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