Convex-Optimization-based Constrained Control Strategy for 3-DOF Tandem Helicopter using Feedback Linearization

Nidya M. Vijayan (), Mija S. Johnson () and Jeevamma Jacob ()
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Nidya M. Vijayan: National Institute of Technology Calicut
Mija S. Johnson: National Institute of Technology Calicut
Jeevamma Jacob: National Institute of Technology Calicut

Journal of Optimization Theory and Applications, 2021, vol. 191, issue 2, No 16, 736-755

Abstract: Abstract This paper proposes a convex-optimization-based relatively optimal controller (ROC) for the attitude regulation of 3 degree of freedom (DOF) tandem helicopter utilizing feedback linearization (FBL). The constant velocity in the pseudo-active axis achieved by regulating two active axes results in the motion of the helicopter in a circular path at a specified altitude. The FBL helps in transforming the system model into two decoupled subsystems in Brunovsky’s canonical form to reduce the computational complexities. Minimum control effort and constraint satisfaction are guaranteed by ROC while regulating the attitude of the 3-DOF tandem helicopter from a nominal initial condition. The Lyapunov stability theorem is employed for illustrating the stability of the closed-loop system. The robustness analysis gives a measure of perturbation that the designed controller can accommodate. Simulation results demonstrate the superiority over an FBL-based linear quadratic regulator controller. The efficacy of the proposed strategy is substantiated by experimental results.

Keywords: Convex-optimization; 3-DOF tandem helicopter; Feedback linearization; Optimal control; Lyapunov stability (search for similar items in EconPapers)
Date: 2021
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DOI: 10.1007/s10957-021-01900-4

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