LQR Based PID Controller Design for 3-DOF Helicopter System

In this article, LQR based PID controller design for
3DOF helicopter system is investigated. The 3-DOF helicopter
system is a benchmark laboratory model having strongly nonlinear
characteristics and unstable dynamics which make the control of such
system a challenging task. This article first presents the mathematical
model of the 3DOF helicopter system and then illustrates the basic
idea and technical formulation for controller design. The paper
explains the simple approach for the approximation of PID design
parameters from the LQR controller gain matrix. The simulation
results show that the investigated controller has both static and
dynamic performance, therefore the stability and the quick control
effect can be obtained simultaneously for the 3DOF helicopter
system.

• Santosh Kr. Choudhary

• 3DOF helicopter system
• PID controller
• LQR controller
• modeling
• simulation.

[1] 3DOF Helicopter Experiment manual, Googol Technology Ltd.,
Kowloon, Hon Kong, 2009.
[2] H. Rios, A. Rosales, A. Ferreira, and A. Davilay, "Robust regulation
for a 3-dof helicopter via sliding-modes control and observation
techniques,” in American Control Conference (ACC), 2010, June 2010,
pp. 4427–4432.
[3] S. Lee, C. Ha, and B. Kim, "Adaptive nonlinear control system design
for helicopter robust command augmentation,” Aerospace Science and
Technology, vol. 9, no. 3, pp. 241 – 251, 2005.
[4] J. Gao, X. Xu, and C. He, "A study on the control methods based
on 3-dof helicopter model.” journal of Computers, vol. 7, no. 10, pp.
2526–2533, 2012.
[5] A. Boubakir, S. Labiod, F. Boudjema, and F. Plestan, "Design and
experimentation of a self-tuning pid control applied to the 3dof
helicopter,” Archives of Control Sciences, vol. 23, no. 3, pp. 311–331,
2013.
[6] Z. Liu, Z. Choukri El Haj, and H. Shi, "Control strategy design based on
fuzzy logic and lqr for 3-dof helicopter model,” in Intelligent Control
and Information Processing (ICICIP), 2010 International Conference
on, Aug 2010, pp. 262–266.
[7] E. N. Sanchez, H. Becerra, and C. Velez, "Combining fuzzy and pid
control for an unmanned helicopter,” in Fuzzy Information Processing
Society, 2005. NAFIPS 2005. Annual Meeting of the North American,
June 2005, pp. 235–240.
[8] M. Boukhnifer, A. Chaibet, and C. Larouci, "H-infinity robust control
of 3-dof helicopter,” in Systems, Signals and Devices (SSD), 2012 9th
International Multi-Conference on, March 2012, pp. 1–6.
[9] Z. Yujia, N. Mohamed, N. Hazem, and A. Yasse, "Model predictive
control of a 3-dof helicopter system using successive linearization,”
International Journal of Engineering, Science and Technology, vol. 2,
no. 310, pp. 9–19, 2010.
[10] D. S. Naidu, Optimal Control Systems. CRC Press, 2002.