Dynamic Modeling of a 3 Degree of Freedom Helibot: Integration of LQG and PI Controllers for Precise Trajectory Tracking

This article extensively explores the dynamics of the Helibot 3DOF system, a commonplace in control labs, employing the Lagrangian formulation. It addresses a research gap by offering a detailed dynamic derivation, encompassing the transformation of positions, velocities, and inertia matrices between rotating and fixed frames. Utilizing an operational Helibot and a CAD model, a linearized state-space model is derived. A controller, integrating PI and LQG strategies, is developed, and its performance is assessed through simulations, considering criteria such as settling time and noise resistance. This work enhances the comprehension of the dynamics and control of the Helibot, highlighting the efficacy of the Lagrange formalism implemented in software with symbolic derivation. This method proves efficient in analyzing the kinematics and kinetics of interconnected bodies, contributing to the overall understanding of the system’s behavior.