LQR-based MIMO PID control of a 2-DOF helicopter system with uncertain cross-coupled gain
Falguni Gopmandal, Arun Ghosh
Abstract
This work deals with designing multi-input multi-output (MIMO) proportional-integral-derivative (PID) controllers to achieve linear quadratic (LQ) performance of a laboratory-based two degree-of-freedom (2-DOF) helicopter system with norm-bounded uncertainties in the cross-coupled gain. It is shown that, for such an uncertain system, the MIMO PID design problem can be recast as a full-state feedback control for an augmented uncertain system. Consequently, a simple linear matrix inequality problem is solved to determine the PID parameters in order to achieve robust LQ performance. The efficacy of the proposed controller is shown through extensive simulations and experiments.
Topics & Concepts
Control theory (sociology)PID controllerMIMONorm (philosophy)Quadratic equationLinear-quadratic regulatorLinear matrix inequalityComputer scienceMathematicsControl engineeringEngineeringControl (management)Optimal controlMathematical optimizationTemperature controlChannel (broadcasting)GeometryArtificial intelligenceComputer networkPolitical scienceLawAdvanced Control Systems DesignStability and Control of Uncertain SystemsAdaptive Control of Nonlinear Systems