Digital Integrative LQR Control of a 2DOF Helicopter
Fernando dos Santos Barbosa1; Giovanni Gallon Neto1; Bruno Augusto Angélico1
1 Escola Politécnica da Universidade de São Paulo
Resumo
A two-degree-of-freedom helicopter is a simple and interesting plant, with nonlinearities and output coupling, allowing the study of several subjects, such as Kalman Filters, sensor fusion, different modeling techniques and usage of classical and modern control. Our main is to develop a digital robust multivariable control for this plant. Therefore, the plants complete model development is shown using Lagrange's method followed by its linearization around an operating point (small angles). Next, a digital LQR controller is projected using anti-windups, since integrators are used at the input of the plant in order to increase the system order and to guarantee null error for the step inputs. Lastly, the controller obtained is simulated and tested on the built helicopter.
Palavras-chave: LQR; Digital Control; Helicopter; Integrator