Attitude tracking of a multivariable 3-DoF helicopter via decentralized repetitive control

Edi Kurniawan; Daniel C. Saputra; Hendra G. Harno; Ronald Eric; Hendra Adinanta; Jalu A. Prakosa; Geetika Srivastava; Hai Wang

doi:10.1016/j.jfranklin.2025.107737

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Attitude tracking of a multivariable 3-DoF helicopter via decentralized repetitive control

Journal article

Open access

Peer reviewed

Attitude tracking of a multivariable 3-DoF helicopter via decentralized repetitive control

Edi Kurniawan, Daniel C. Saputra, Hendra G. Harno, Ronald Eric, Hendra Adinanta, Jalu A. Prakosa, Geetika Srivastava and Hai Wang

Journal of the Franklin Institute, Vol.362(10), 107737

2025

DOI: https://doi.org/10.1016/j.jfranklin.2025.107737

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Abstract

3-DoF helicopter

Decentralized control

Multivariable system

Repetitive control

State-feedback control

This paper presents a novel strategy for designing a discrete-time decentralized repetitive controller (DRC) for a 3-degree-of-freedom (DoF) helicopter modeled as a multivariable linear system. The proposed design strategy comprises three main steps: (1) decomposing the 3-DoF helicopter model into two independent subsystems, namely an elevation model and a pitch-travel model, (2) designing a state-feedback stabilizing controller for each subsystem, and (3) designing the discrete-time decentralized repetitive controller. Such a repetitive control strategy is intended to enable the 3-DoF helicopter to track repetitive trajectories of the elevation and travel angles perfectly. A numerical example of the 3-DoF Quanser helicopter system for tracking three scenarios (i.e., ∞-shape trajectory, diamond-shape trajectory, and diamond-shape trajectory with counterweight mass variation), is simulated to validate the effectiveness of the proposed design. In addition, a comparison is also made to a sliding-mode controller (SMC) and linear-quadratic regulator(LQR)-based proportional–integral–derivative (PID) controller. The results demonstrate that zero-tracking errors are achieved with the proposed design in all scenarios, although the third scenario requires a longer convergence time compared to the first two. Under similar repetitive tasks, the DRC outperforms the SMC and LQR-based PID in terms of tracking accuracies during the steady-state period.

Details

Title: Attitude tracking of a multivariable 3-DoF helicopter via decentralized repetitive control
Authors/Creators: Edi Kurniawan - National Nuclear Energy Agency of Indonesia
Daniel C. Saputra - Universitas Gadjah Mada
Hendra G. Harno - Sanata Dharma University
Ronald Eric - Airlangga University
Hendra Adinanta - National Nuclear Energy Agency of Indonesia
Jalu A. Prakosa - Photonics (United States)
Geetika Srivastava - Dr. Ram Manohar Lohia Avadh University
Hai Wang - Murdoch University, Centre for Water, Energy and Waste
Publication Details: Journal of the Franklin Institute, Vol.362(10), 107737
Publisher: Elsevier Inc. on behalf of The Franklin Institute.
Number of pages: 25
Identifiers: 991005782832607891
Murdoch Affiliation: School of Engineering and Energy
Language: English
Resource Type: Journal article

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Collaboration types: Domestic collaboration; International collaboration
Citation topics: 4 Electrical Engineering, Electronics & Computer Science; 4.29 Automation & Control Systems; 4.29.2152 Iterative Learning Control
Web Of Science research areas: Automation & Control Systems; Engineering, Electrical & Electronic; Engineering, Multidisciplinary; Mathematics, Interdisciplinary Applications
ESI research areas: Engineering