Tracking control of a twin-rotor helicopter model under thrust constrains using state-dependent gain-scheduling and reference management

In this paper, we design a control law for a twin-rotor helicopter model with considering actuator constraints. The controller is composed of a state-dependent gain-scheduled feedback control law and a reference management device. We show that the proposed control law achieves higher tracking performance as compared to the standard constant feedback control law through experimental results.

[1]  D. Bernstein,et al.  A chronological bibliography on saturating actuators , 1995 .

[2]  Masami Saeki,et al.  An LMI based scheduling algorithm for constrained stabilization problems , 2008, Syst. Control. Lett..

[3]  Vladimir A. Yakubovich,et al.  Linear Matrix Inequalities in System and Control Theory (S. Boyd, L. E. Ghaoui, E. Feron, and V. Balakrishnan) , 1995, SIAM Rev..

[4]  Frank Allgöwer,et al.  Nonlinear Model Predictive Control , 2007 .

[5]  Alberto Bemporad,et al.  Predictive control of teleoperated constrained systems with unbounded communication delays , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[6]  Luca Zaccarian,et al.  Anti-windup design for manual flight control , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[7]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[8]  Ali Saberi,et al.  Control of Linear Systems with Regulation and Input Constraints , 2000 .

[9]  Jun-ichi Imura,et al.  Experiments of Twin-Rotor Helicopter model using Exact Linearization via Dynamic State Feedback. , 2000 .

[10]  Tingshu Hu,et al.  Control Systems with Actuator Saturation: Analysis and Design , 2001 .

[11]  M. Pachter,et al.  Manual flight control with saturating actuators , 1998 .

[12]  Masami Saeki,et al.  Tracking Control with Saturating Actuators: A Method Based on State-Dependent Gain-Scheduling and Re , 2008 .

[13]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[14]  G. Martin,et al.  Nonlinear model predictive control , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[15]  N. Wada,et al.  A Scheduling Algorithm for Constrained Control Systems: An Approach Based on a Parameter Dependent Lyapunov Function , 2007, 2007 American Control Conference.

[16]  Tingshu Hu,et al.  Control Systems with Actuator Saturation: Analysis and Design , 2001 .

[17]  Karl Johan Åström,et al.  MANUAL CONTROL AND STABILIZATION OF AN INVERTED PENDULUM , 2005 .