This paper investigates the use of a dual-loop control system for a laboratory helicopter with three degrees of freedom, namely pitch, elevation and travel. The goal consists of following a travel reference at constant elevation while limiting pitch excursion. A first-principles model of the helicopter was initially employed to design the inner loop through a Discrete Linear Quadratic Regulator (DLQR) formulation. With this stabilising controller in place, the step response to a travel command was acquired to design a Dynamic Matrix Control (DMC) scheme with pitch constraints. The dual-loop architecture was implemented in a multirate manner, with DMC acting as a command governor for the DLQR controller. Experimental results are presented to show the efficacy of the overall control system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Dynamic Matrix Control of a 3DOF Helicopter with Stabilising Inner Loop


    Additional title:

    Lect. Notes Electrical Eng.



    Conference:

    APCA International Conference on Automatic Control and Soft Computing ; 2022 ; Caparica, Portugal July 06, 2022 - July 08, 2022


    Published in:

    CONTROLO 2022 ; Chapter : 20 ; 227-238


    Publication date :

    2022-07-02


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Multiple-surface sliding mode control for 3DOF helicopter

    Hamood, M. A. / Akmeliawati, R. / Legowo, A. | IEEE | 2011


    Aggressive Landing Maneuvers for 3DOF Helicopter UAV

    Bayraktar, Selcuk / Feron, Eric | AIAA | 2006


    Modeling and flatness-based control of a 3DOF helicopter laboratory experiment

    Kiefer, Thomas / Kugi, Andreas / Kemmetmüller, Wolfgang | Tema Archive | 2004


    AIAA-2006-6682 Aggressive Landing Maneuvers for 3DOF Helicopter UAV

    Bayraktar, S. / Feron, E. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2006