Tuning of Pareto-optimal robust controllers for multivariable systems. Application on helicopter of two-degress-of-freedom

Abstract

The tuning of Pareto-optimal robust controllers was applied to improve the performance of a helicopter with two-degrees-of-freedom with a linear control algorithm. The tuning procedure is based on the simultaneous minimization of the integral of square sum of errors and the integral of square sum of control action. A 2D Pareto front is built with these integrals. Afterwards, a decision-making process is carried out to select the most preferable controller. Experimental results on the physical platform validate the tuning procedure as practical and reliable.

Keywords

• Sistema no lineal
• control robusto
• control óptimo
• índices de desempeño
• tiempo real