Trajectory Tracking of a 3-DOF Helicopter System via Integral Control

摘要

In this paper, a method of trajectorytracking based on integral control realized by inputoutput linearization for a laboratory 3 degrees of freedom (3-DOF) helicopter model is introduced. The 3DOF helicopter is a typical multi-input multi-output system with high-order. It has strong channel coupling between pitch and travel acceleration. The integral of tracking error is defined as the plant output, and the real model is transformed equivalently into a model without coupling by applying input-output linearization to the main and lower subsystems hierarchically. Then, the method of Linear Quadratic Regulator (LQR) is utilized to obtain the gain of the state feedback for the decoupled system. Simulation and realtime experimental results demonstrate that the designed system can track the given reference trajectory through the proposed method effectively.