Títol:
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Quasi-LPV modeling, identification and control of a twin rotor MIMO system
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Autor/a:
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Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç
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Altres autors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
Abstract:
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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. |
Abstract:
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Peer Reviewed |
Matèries:
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Twin rotor MIMO system -Helicopters-- Control systems -- Mathematical models -Helicòpters -- Disseny i construcció |
Drets:
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Tipus de document:
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Article - Versió publicada Article |
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