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AUTHOR(S): Saeed Al-Haddad, Herman Wahid
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ABSTRACT This paper employs a design of two sub-controllers based on Linear Quadratic Regulator (LQR) for Two Rotor Aero-dynamical System (TRAS) in two degree of freedom (2-DOF) motion. Two Rotor Aero-dynamical System (TRAS) is a nonlinear multi-input multi-output (MIMO) system with strong cross coupling. The main focus of the research work is to control both the horizontal and vertical angles of the system so that the desired trajectory is tracked while rejecting disturbances. In this work, TRAS is decoupled into two subsystems (horizontal and vertical) and the derivation of the linear model of each subsystem is developed using Jacobean linearisation matrix. Optimal LQR controller is designed and tuned using Particle Swarm Optimisation (PSO) algorithm for each subsystem. The designed sub-LQR controllers are combined with integral action gain, full state observe and an anti-integral windup based on back-calculation technique. Simulation results show that the decoupled integral LQR controller (DILQRC) exhibits a better performance in terms of transient and steady state responses with significant reduction of settling time, overshoot percentage and error index it also requires less and smooth control signal in case of tracking a step input as compared to the cross coupled PID controller (CCPIDC). Furthermore, a |
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KEYWORDS Two Rotor Aerodynamical System (TRAS), Linear Quadratic Regulator (LQR), integral action gain, Particle Swarm Optimisation (PSO), full state observer, anti-windup, back-calculation. |
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Cite this paper Saeed Al-Haddad, Herman Wahid. (2019) Decoupled Integral LQR Controller with Anti-windup Compensator for MIMO Two Rotor Aerodynamical System (TRAS). International Journal of Control Systems and Robotics, 4, 73-86 |
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