| Liu Yicai (刘义才)* **,Liu Bin*.[J].高技术通讯(英文),2021,27(3):310~319 |
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| Networked guaranteed cost PID attitude tracking control of a laboratory flight system |
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| DOI： |
| 中文关键词: |
| 英文关键词: time-varying delay, packet dropout, networked flight control system, tracking control |
| 基金项目: |
| Author Name | Affiliation | | Liu Yicai (刘义才)* ** | (*Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of Education, Institute of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, P.R.China)
(**School of Mechanical-Electronic and Automobile Engineering, Wuhan Business University, Wuhan 430056, P.R.China) | | Liu Bin* | (*Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of Education, Institute of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, P.R.China)
(**School of Mechanical-Electronic and Automobile Engineering, Wuhan Business University, Wuhan 430056, P.R.China) |
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| 中文摘要: |
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| 英文摘要: |
| This paper investigates the networked flight control system for a laboratory 3 degrees of freedom (3-DOF) helicopter, and presents a novel networked guaranteed cost proportion-integration-differentiation (PID) attitude tracking control method with consideration of time-varying delay and packet dropouts. As the 3-DOF helicopter characteristics of multi-input multi-output (MIMO), channel coupling, and nonlinearity, a genera linear time delay system is modeled by analyzing the motions on elevation, pitch, and travel axis. By using the reciprocal convex approach, the free weight matrix, and the cone complementarity linearization (CCL) method, the PID tracking controller parameters can be designed if the related linear matrix inequalities (LMIs) are feasible. Finally, a practical experiment of laboratory 3-DOF helicopter is given, and the experimental results show that the proposed method is effective. |
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