Robust Controllers Using Generalizations of the LQG/LTR Method

[摘要] 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 underactuated 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...

[学科分类] 自动化工程

[关键词] Robust control ;TFL/LTR controllers ;Underactuated nonlinear system ;3DOF helicopter