Practical stabilization of a 3-DOF helicopter using a delayed controller
Abstract
Commonly, in the design and tuning of control laws for applications outside the academic field, the conventional criteria is related with the Lyapunov theory. However, sometimes these approaches are not the most convenient, mainly due to the existence of unmodeled dynamics and its influence on the stability of the system. {In this article an analysis is presented to determine the practical stabilization of a class of nonlinear systems with uncertain dynamics using Lyapunov-Krasovskii functionals with exponential terms.} Derived from this analysis, sufficient conditions of practical stability are determined using linear matrix inequalities (LMIs), which are used for the design and tuning of control laws with {delayed and integral actions}. The inclusion of these actions aim to attenuate the presence of noise and to reduce the steady-state error. To show the effectiveness and applicability of the theoretical results, simulations and experiments on a helicopter of three degrees of freedom (3-DOF) are presented.
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