Control no lineal robusto de una maqueta de helicóptero con rotores de velocidad variable

This paper presents the design of a robust nonlinear controller for a scaled helicopter. This device features rotors with fixed angles of attack blades, and is controlled by changing the speed of the rotors using two direct drive engines. The resultant system is multivariable (2 inputs and 4 outputs), highly nonlinear and strongly coupled. The application presented in this paper includes the design of a robust controller that rejects persistent disturbances, which is based on feedback linearization and two external controllers. These controllers have PID structure and are designed using LQR regulators extending the state vector with the integral of the positions. The methodology has been verified by means of experimental results

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