Optimized Integral LQR Control For 2-DOF Helicopter Using Adaptive PSO And LMIs

This paper presents an Integral Linear-Quadratic Regulator (ILQR) control for a laboratory helicopter based on Adaptive Particle Swarm Optimization (APSO) and Linear Matrix Inequalities (LMIs). The Twin Rotor laboratory helicopter System is used as a model, which has two degrees of freedom (2-DOF). The dynamic of the helicopter is obtained using the Euler-Lagrange method. The integral action is introduced to minimize the static errors. The stability conditions of the closed loop system are formulated in LMI using a quadratic candidate Lyapunov function. The optimal weighting matrices of ILQR are determined using APSO. The gain matrix of ILQR is obtained by using the LMI toolbox to solve the derived LMI. A comparative assessment of the system performance is investigated between previous work based on ILQR-APSO and the proposed approach. The comparison results indicate that the proposed controller performs better.