Robust Controllers Using Generalizations of the LQG/LTR Method

Autor(es)

Pereira, Renan Lima ; Kienitz, Karl Heinz

• Tipo de documento: Artigo Científico
• Fonte: JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS; v. 25, n. 3, p. 10-pg., 2014-06-01.

Resumo

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. (AU)

• Processo FAPESP: 11/17610-0 - Monitoramento e controle de sistemas dinâmicos sujeitos a falhas
• Beneficiário: Roberto Kawakami Harrop Galvão
• Modalidade de apoio: Auxílio à Pesquisa - Temático