APLICAÇÃO DE CONTROLADORES ROBUSTOS VIA LMIs EM UM HELICÓPTERO DE BANCADA MODELO 3-DOF DA QUANSER®

Abstract

This work aims the practical implementation ofrobust controllers in a 3-DOF helicopter model fromQuanser (cargo type - two propellers). It is supposed thatduring the flight trajectory a failure in both propellershappens, i.e., a loss of power at the engines is causedpurposely with the intention of authenticating efficiency ofrobust controllers designed. Considering the linear modelwith parametric uncertainties, the controllers are designedusing Linear Matrix Inequalities (LMIs). LMIs allow easilythe inclusion of design constraints and existence ofuncertainties. Yet, LMIs can be solved easily inmicrocomputers, using, for instance, the MatLab®. Theobtained results show an optimal performance of controltheory applied to the physical model of the helicoptersubjected to structural failure.Index Terms ⎯ Quanser’s 3-DOF Helicopter, Linear MatrixInequalities (LMIs), Linear Systems, ParametricUncertainties.