Control systems for a helicopter with two degrees of freedom

Author

Gutierrez, J.A. ; Duarte, E. ; Arcos, J.

Author_Institution

Eng. Dept., San Buenaventura Univ., Bogota, Colombia

fYear

2014

fDate

22-24 Oct. 2014

Firstpage

1

Lastpage

6

Abstract

The goal of this article is to model and control a helicopter of two degrees of freedom, better known as a twin rotor Multiple Inputs Multiple Outputs (“MIMO”) system, those mobility points of freedom allows the helicopter to be positioned in Pitch and Yaw angles. This system has exceptional characteristics that make it a challenge to be controlled; given the fact that it is a non-linear, multi-variable and an unstable system. In order to acquire a control system with high performance and robustness, the helicopter must be held with various strategies and their results need to be compared to identify the best one. The control schemas used are Single Input Single Output (“SISO”) PID control, Uncoupled MIMO Cross-Control and a Servotracking control with a state observer.

Keywords

MIMO systems; aircraft control; helicopters; multivariable control systems; nonlinear systems; robust control; state estimation; three-term control; tracking; MIMO system; SISO PID control; helicopter; multiple input multiple output system; multivariable system; nonlinear system; pitch angles; robustness; servotracking control; single input single output PID control; state observer; twin rotor; two-degree-of-freedom; uncoupled MIMO cross-control; unstable system; yaw angles; Control systems; Equations; Helicopters; MIMO; Mathematical model; Observers; Propellers; Multi-Variable Control; SISO Control; Servotracking Control; State Observer;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering Mechatronics and Automation (CIIMA), 2014 III International Congress of

Conference_Location

Cartagena

Print_ISBN

978-1-4799-7931-8

Type

conf

DOI

10.1109/CIIMA.2014.6983445

Filename

6983445