Design of Constrained Preview Controller for 2DOF Helicopter

  • Nidhika Birla
  • Akhilesh Swarup
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 131)


This paper presents the design of Preview Controller for 2DOF helicopter model with multiple objectives in constrained environment as min-max problem. The paper explains the novel MOCC-PSO (Multi-Objective Constrained Co-evolutionary Particle Swarm Optimization) procedure to solve this optimization problem, with techniques to handle infeasible solution. The proposed procedure is tested and verified using MATLAB platform. The results validate the ability of the procedure in terms of the quality of solution obtained in the constrained environment and the ease to implement the non-conventional objectives and constraints.


Preview Control Discrete – time System State Feedback Control Co-Evolutionary PSO Marriage in Honey Bees Optimization (MBO) 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Kojima, A., Ishijima, S.: H∞ Control with Preview Compensation. In: Proc. American Control Conference, New Mexico, pp. 1692–1697 (1997)Google Scholar
  2. 2.
    Kojima, A., Ishijima, S.: H∞ Preview Tracking in Output Feedback Setting. In: Proc. Conf. on Decision and Control, Arizona, USA, pp. 3162–3164 (1999)Google Scholar
  3. 3.
    Tadmor, G., Mirkinn, L.: H∞ Preview Control and Fixed- Lag Smoothing I: Matrix ARE Solutions in Continuous-Time Systems. In: Proc. of IEEE Conf. on Decision and Control, Hawaii, USA, pp. 6515–6520 (2003)Google Scholar
  4. 4.
    Tadmor, G., Mirkinn, L.: H∞ Preview Control and Fixed- Lag Smoothing II: Matrix ARE Solutions in Discrete-Time Systems. In: Proc. IEEE Conf. on Decision and Control, Hawaii, USA, pp. 6521–6526 (2003)Google Scholar
  5. 5.
    Polyakov, K.Y., Rosenwasser, E.N., Lampe, B.P.: Optimal Open-Loop Tracking using Sampled Data System with Preview. In: Proc. 11th IEEE Mediterranean Conf. on Control and Automation, Greece, CD-IV04-03 (2003)Google Scholar
  6. 6.
    Kuroiwa, Y., Kimura, H.: H∞ Control with Preview and Delay. In: Proc. American Control Conf., Boston, pp. 4794–4799 (2004)Google Scholar
  7. 7.
    Negm, M.M., Bakhashwain, J.M., Shwehdi, M.H.: Speed Control of Three Phase Induction Motor based on Robust Optimal Preview Control Theory. IEEE Transactions on Energy Conversion 21(1), 77–84 (2006)CrossRefGoogle Scholar
  8. 8.
    Moran, A., Mikami, Y., Hayase, M.: Analysis and Design of H∞ Preview Tracking Control Systems. In: AMC 1996- MIE, pp. 482–487 (1996)Google Scholar
  9. 9.
    Farooq, A., Limebeer, D.J.N.: Path Following of Optimal Trajectories using Preview Control. In: Proc. IEEE Conf. on Decision and Control and the European Control Conf., Spain, pp. 2787–2792 (2005)Google Scholar
  10. 10.
    Takaba, K.: A Tutorial on Preview Control Systems. In: SICE Annual Conf., Fukui, pp. 1388–1393Google Scholar
  11. 11.
    Kennedy, J., Eberhart, R.: Particle Swarm Optimization. In: Proc. IEEE Int. Conf. Neural Network, Perth, Australia, vol. IV, pp. 1942–1948 (1995)Google Scholar
  12. 12.
    Shi, Y., Eberhart, R.C.: Empirical Study of Particle Swarm Optimization, pp. 1945–1950. IEEE (1999)Google Scholar
  13. 13.
    Coello, C.A.C.: Use of a self-adaptive penalty approach for engineering optimization problems. Computers in Industry 41, 113–127 (2000)CrossRefGoogle Scholar
  14. 14.
    Velagic, J., Osmic, N., Zunic, E., Uzunovic, T., Badnjevic, A.: Design of 3D Simulator for 2DOF Helicopter Model Control. In: Proc. ELMAR, pp. 305–308 (2010)Google Scholar
  15. 15.
    Yu, G.R.: Robust-Optimal Control of a Nonlinear Two Degree-of-Freedom Helicopter. In: IEEE/ACIS Int. Conf. on Computer and Information Science, pp. 744–749 (2007)Google Scholar

Copyright information

© Springer India Pvt. Ltd. 2012

Authors and Affiliations

  1. 1.Department of Electrical EngineeringNational Institute of TechnologyKurukshetraIndia

Personalised recommendations