期刊
CONTROL ENGINEERING PRACTICE
卷 21, 期 6, 页码 829-846出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2013.02.004
关键词
LPV; TRMS; Gain-scheduling; Helicopter; LMIs; Polytopic model
资金
- Spanish MINECO [DPI2011-26243]
- European Commission [FP7-ICT-2009-6-270428]
- UPC [FPI-UPC E-01104]
This paper describes the quasi-linear parameter varying (quasi-LPV) modeling, identification and control of a Twin Rotor MIMO System (TRMS). The non-linear model of the TRMS is transformed into a quasi-LPV system and approximated in a polytopic way. The unknown model parameters have been calibrated by means of the non-linear least squares identification approach and validated against real data. Finally, an LPV state observer and state-feedback controller have been designed using an LPV pole placement method based on LMI regions. The effectiveness and performance of the proposed control approach have been proved both in simulation and on the real set-up. (C) 2013 Elsevier Ltd. All rights reserved.
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