Robust Controllers Using Generalizations of the LQG/LTR Method

Abstract:

This paper deals with the design of robust fixed parameter controllers, using the target feedback loop/loop transfer recovery (TFL/LTR) technique with two controller structures that will be evaluated with sets of specifications for robust stability and performance of a laboratory helicopter. This helicopter is an under actuated nonlinear system, having three degrees of freedom and two actuators. The first structure considered in the evaluation is the LQG/LTR compensator; it is used as reference for performance evaluation. The second structure results from a variation of the LQG/LTR method. It does not have a specific name and in this paper is called structure #2. For both techniques, designed compensators shall solve the problem of tracking of reference trajectories, ensuring performance and stability, despite parametric disturbances.

 

Autores: 

Renan Lima Pereira (Pereira, Renan Lima)

Karl Heinz Kienitz (Kienitz, Karl Heinz)

 

Produto: Helicóptero 3DOF

Titulo: Robust Controllers Using Generalizations of the LQG/LTR Method

Ano de Publicação: 2014. 

Link: Download

 

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