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LQR-based attitude controllers design for a 3-DOF helicopter system with comparative experimental tests

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Abstract

This paper presents a comparative study of different linear quadratic regulator (LQR)-based attitude controllers design for a 3-DOF helicopter system. Firstly, dynamics model of 3-DOF helicopter system is established. Then, three LQR-based attitude controllers are designed, which are robust LQR attitude controller, linear parameter varying (LPV)-based robust LQR attitude controller and weight adaptation-based LQR attitude controller are developed for the helicopter system, respectively. Finally, based on the Quanser’s 3-DOF helicopter experimental platform, the stability and tracking performance of these three attitude controllers are tested under three conditions including normal condition, actuator fault and wind disturbance. Based on the experimental results, some discussions are carried out, which are expected to provide some guidance for the design of flight control system.

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Data and code in this study are available from the corresponding author on reasonable request.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant 51605279.

Funding

Wei Li’s work was supported by the National Natural Science Foundation of China under Grant 51605279.

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Authors and Affiliations

  1. Logistics Engineering College, Shanghai Maritime University, Shanghai, 201306, China

    Tianao Zhao

  2. College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing, 211106, China

    Wei Li

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  1. Tianao Zhao
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  2. Wei Li
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Contributions

TZ performed software, data curation, validation, writing, and visualization. WL contributed to conceptualization, methodology, supervision, and funding acquisition.

Corresponding author

Correspondence to Wei Li.

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Cite this article

Zhao, T., Li, W. LQR-based attitude controllers design for a 3-DOF helicopter system with comparative experimental tests. Int. J. Dynam. Control 12, 1063–1072 (2024). https://doi.org/10.1007/s40435-023-01242-1

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  • DOI: https://doi.org/10.1007/s40435-023-01242-1

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