Article | Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th ‚Äď 27th, 2017 | Comparison of control strategies for a 2 DOF helicopter
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Title:
Comparison of control strategies for a 2 DOF helicopter
Author:
Roshan Sharma: Department of Electrical Engineering, IT, and Cybernetics, University College of Southeast Norway, Norway Carlos F. Pfeiffer: Department of Electrical Engineering, IT, and Cybernetics, University College of Southeast Norway, Norway
DOI:
10.3384/ecp17138271
Download:
Full text (pdf)
Year:
2017
Conference:
Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th ‚Äď 27th, 2017
Issue:
138
Article no.:
036
Pages:
271-279
No. of pages:
9
Publication type:
Abstract and Fulltext
Published:
2017-09-27
ISBN:
978-91-7685-417-4
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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The two degrees of freedom (2-DOF) helicopter is an openloop unstable multi-variable process. Various control strategies can be applied to stabilize the system for tracking and regulation problems but not all control methods show equal capabilities for stabilizing the system. This paper compares the implementation of a classical PID controller, a linear quadratic regulator with integral action (LQR+I) and a model predictive controller (MPC) for stabilizing the system. It has been hypothesized that for such an unstable MIMO (multi input multi output) process showing cross coupling behavior, the model based controllers produces smoother control inputs than the classical controller. The paper also discusses the necessity of including the derivative part of the PID controller for stabilization and its influence to the measurement noises. A Kalman filter used for estimating unmeasured states may produce bias due to model mismatch. The implementation and comparison is based on a 2-DOF experimental helicopter prototype.

Keywords: 2-DOF helicopter, MPC, LQR, PID, Kalman filter, qpOASES

Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th ‚Äď 27th, 2017

Author:
Roshan Sharma, Carlos F. Pfeiffer
Title:
Comparison of control strategies for a 2 DOF helicopter
DOI:
http://dx.doi.org/10.3384/ecp17138271
References:
No references available

Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th ‚Äď 27th, 2017

Author:
Roshan Sharma, Carlos F. Pfeiffer
Title:
Comparison of control strategies for a 2 DOF helicopter
DOI:
http://dx.doi.org/10.3384/ecp17138271
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Last updated: 2017-02-21