Linear Quadratic Regulator for Helicopter Model with a Prescribed Degree of Stability
Lecture Notes in Networks and Systems
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© 2021, Springer Nature Switzerland AG. The 3-degree of freedom (DOF) helicopter is a benchmark aero-dynamical laboratory model having non-linear characteristics and open-loop unstable dynamics that make the control of such system for either posture stabilization or trajectory tracking a challenging task for the control community. This article investigates a linear quadratic regulator (LQR) based optimal solution for the position and attitude control problem of 3-DOF helicopter system with a prescribed degree of stability to achieve desired attitude (elevation and roll angles) and position (travel rate). Numerical simulations are demonstrated to verify the effectiveness of the proposed control scheme.
3-DOF helicopter; Attitude control; Dynamic modeling; Linear-quadratic regulator; Optimal control; Position control
Computer Sciences | Electrical and Computer Engineering
Linear Quadratic Regulator for Helicopter Model with a Prescribed Degree of Stability.
Lecture Notes in Networks and Systems, 182