Robust Controller LMI for helicopter with two degrees of freedom

This article presents the design of a robust H∞ controller using techniques of linear matrix inequalities (LMIs) for controlling the position of Pitch and Yaw in a helicopter. Designing a FF + LMI controller is presented for stabilizing the system, and further the design of LMI + FF + integrator con...

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Tipo de recurso:
http://purl.org/coar/resource_type/c_6519
Fecha de publicación:
2015
Institución:
Universidad Pedagógica y Tecnológica de Colombia
Repositorio:
RiUPTC: Repositorio Institucional UPTC
Idioma:
spa
OAI Identifier:
oai:repositorio.uptc.edu.co:001/12252
Acceso en línea:
https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250
https://repositorio.uptc.edu.co/handle/001/12252
Palabra clave:
robust control
linear matrix inequalities
nominal model
nonlinear systems.
control robusto
desigualdades matriciales lineales
modelo nominal
sistema no lineal
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Derechos de autor 2015 Ingeniería Investigación y Desarrollo
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oai_identifier_str oai:repositorio.uptc.edu.co:001/12252
network_acronym_str REPOUPTC2
network_name_str RiUPTC: Repositorio Institucional UPTC
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spelling 2015-06-262024-07-05T18:47:52Z2024-07-05T18:47:52Zhttps://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/425010.19053/1900771X.4250https://repositorio.uptc.edu.co/handle/001/12252This article presents the design of a robust H∞ controller using techniques of linear matrix inequalities (LMIs) for controlling the position of Pitch and Yaw in a helicopter. Designing a FF + LMI controller is presented for stabilizing the system, and further the design of LMI + FF + integrator controller is performed to make the tracking error equal to zero. Thereafter the results of simulations are showed on the nonlinear system model and a comparison with FF+LQR and FF+LQR+I which were developed by device manufacturers.Este artículo presenta el diseño de un controlador robusto H∞ usando técnicas de desigualdades matriciales lineales (LMI), para controlar la posición de Pitch y de Yaw en un helicóptero. Se presenta el diseño de un controlador FF+LMI con el propósito de conseguir la estabilización del sistema, y adicionalmente se realiza el diseño de un controlador FF+LMI+Integrador, para hacer que el error de seguimiento sea igual a cero. Posteriormente se presentan los resultados de las simulaciones sobre el modelo no lineal del sistema, así como una comparación con los controladores FF+LQR y FF+LQR+I desarrollados por los fabricantes del dispositivo.application/pdfspaspaUniversidad Pedagógica y Tecnológica de Colombia - UPTChttps://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250/3674Derechos de autor 2015 Ingeniería Investigación y Desarrollohttp://purl.org/coar/access_right/c_abf20http://purl.org/coar/access_right/c_abf2Ingeniería Investigación y Desarrollo; Vol. 15 No. 2: julio-diciembre de 2015; 47-57Ingeniería Investigación y Desarrollo; Vol. 15 Núm. 2: julio-diciembre de 2015; 47-572422-43241900-771Xrobust controllinear matrix inequalitiesnominal modelnonlinear systems.control robustodesigualdades matriciales linealesmodelo nominalsistema no linealRobust Controller LMI for helicopter with two degrees of freedomControlador robusto LMI para un helicóptero de dos grados de libertadinfo:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6519http://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/version/c_970fb48d4fbd8a103http://purl.org/coar/version/c_970fb48d4fbd8a85Higuera-Martínez, Oscar IvánSalamanca, Juan Mauricio001/12252oai:repositorio.uptc.edu.co:001/122522025-07-18 11:25:29.372metadata.onlyhttps://repositorio.uptc.edu.coRepositorio Institucional UPTCrepositorio.uptc@uptc.edu.co
dc.title.en-US.fl_str_mv Robust Controller LMI for helicopter with two degrees of freedom
dc.title.es-ES.fl_str_mv Controlador robusto LMI para un helicóptero de dos grados de libertad
title Robust Controller LMI for helicopter with two degrees of freedom
spellingShingle Robust Controller LMI for helicopter with two degrees of freedom
robust control
linear matrix inequalities
nominal model
nonlinear systems.
control robusto
desigualdades matriciales lineales
modelo nominal
sistema no lineal
title_short Robust Controller LMI for helicopter with two degrees of freedom
title_full Robust Controller LMI for helicopter with two degrees of freedom
title_fullStr Robust Controller LMI for helicopter with two degrees of freedom
title_full_unstemmed Robust Controller LMI for helicopter with two degrees of freedom
title_sort Robust Controller LMI for helicopter with two degrees of freedom
dc.subject.en-US.fl_str_mv robust control
linear matrix inequalities
nominal model
nonlinear systems.
topic robust control
linear matrix inequalities
nominal model
nonlinear systems.
control robusto
desigualdades matriciales lineales
modelo nominal
sistema no lineal
dc.subject.es-ES.fl_str_mv control robusto
desigualdades matriciales lineales
modelo nominal
sistema no lineal
description This article presents the design of a robust H∞ controller using techniques of linear matrix inequalities (LMIs) for controlling the position of Pitch and Yaw in a helicopter. Designing a FF + LMI controller is presented for stabilizing the system, and further the design of LMI + FF + integrator controller is performed to make the tracking error equal to zero. Thereafter the results of simulations are showed on the nonlinear system model and a comparison with FF+LQR and FF+LQR+I which were developed by device manufacturers.
publishDate 2015
dc.date.accessioned.none.fl_str_mv 2024-07-05T18:47:52Z
dc.date.available.none.fl_str_mv 2024-07-05T18:47:52Z
dc.date.none.fl_str_mv 2015-06-26
dc.type.none.fl_str_mv info:eu-repo/semantics/article
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_2df8fbb1
dc.type.coarversion.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.coar.spa.fl_str_mv http://purl.org/coar/resource_type/c_6519
dc.type.coarversion.spa.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a103
format http://purl.org/coar/resource_type/c_6519
dc.identifier.none.fl_str_mv https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250
10.19053/1900771X.4250
dc.identifier.uri.none.fl_str_mv https://repositorio.uptc.edu.co/handle/001/12252
url https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250
https://repositorio.uptc.edu.co/handle/001/12252
identifier_str_mv 10.19053/1900771X.4250
dc.language.none.fl_str_mv spa
dc.language.iso.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/4250/3674
dc.rights.es-ES.fl_str_mv Derechos de autor 2015 Ingeniería Investigación y Desarrollo
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
dc.rights.coar.spa.fl_str_mv http://purl.org/coar/access_right/c_abf20
rights_invalid_str_mv Derechos de autor 2015 Ingeniería Investigación y Desarrollo
http://purl.org/coar/access_right/c_abf20
http://purl.org/coar/access_right/c_abf2
dc.format.none.fl_str_mv application/pdf
dc.publisher.es-ES.fl_str_mv Universidad Pedagógica y Tecnológica de Colombia - UPTC
dc.source.en-US.fl_str_mv Ingeniería Investigación y Desarrollo; Vol. 15 No. 2: julio-diciembre de 2015; 47-57
dc.source.es-ES.fl_str_mv Ingeniería Investigación y Desarrollo; Vol. 15 Núm. 2: julio-diciembre de 2015; 47-57
dc.source.none.fl_str_mv 2422-4324
1900-771X
institution Universidad Pedagógica y Tecnológica de Colombia
repository.name.fl_str_mv Repositorio Institucional UPTC
repository.mail.fl_str_mv repositorio.uptc@uptc.edu.co
_version_ 1839633788463742976

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