Less conservative optimal robust control of a 3-DOF helicopter
Summary: This work proposes an improved technique for design and optimization of robust controllers norm for uncertain linear systems, with state feedback, including the possibility of time-varying the uncertainty. The synthesis techniques used are based on Linear Matrix Inequalities (LMIs) formulated on the basis of Lyapunov's stability theory, using Finsler's lemma. The design has used the addition of the decay rate restriction, including a parameter \(\gamma\) in the LMIs, responsible for decreasing the settling time of the feedback system. Qualitative and quantitative comparisons are made between methods of synthesis and optimization of the robust controllers norm, seeking alternatives with lower cost and better performance that meet the design restrictions. A practical application illustrates the efficiency of the proposed method with a failure purposely inserted in the system.
- scientific article; zbMATH DE number 434710
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- Parameterized LMIs for robust \(\mathcal{H}_2\) and \(\mathcal{H}_\infty\) state feedback control of continuous-time polytopic systems
- An improved lmi condition for robust D-stability of uncertain polytopic systems
- Extended LMI characterizations for stability and performance of linear systems
- scientific article; zbMATH DE number 1679742 (Why is no real title available?)
- Linear Matrix Inequalities in System and Control Theory
- On the stability of slowly time-varying linear systems
- Robust control for uncertain linear system subject to input saturation
- Robust control through piecewise Lyapunov functions for discrete time-varying uncertain systems
- Robust state-derivative feedback LMI-based designs for multivariable linear systems
- Output sliding mode-based stabilization of underactuated 3-DOF helicopter prototype and its experimental verification
- Robust backstepping decentralized tracking control for a 3-DOF helicopter
- Hierarchical structure‐based adaptive fault‐tolerant consensus control for multiple 3‐DOF laboratory helicopters
- Discrete-time interval optimal control problem
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