Este artículo presenta el diseño y puesta en marcha de un controlador robusto para estabilizar un helicóptero de 3 Grados De Libertad (GDL). Esta plataforma de experimentación es desarrollda por la empresa Quanser Inc. La caracterización de algunos parámetros del helicóptero incertidumbres estructuradas e inclusión de funciones de peso permiten obtener un controlador por μ-síntesis. La estabilización del helicóptero es llevada a cabo por el control de los tres ángulos más importantes: elevación, inclinación y viaje. Los resultados experimentales muestran que el diseño de control por la técnica de μ-síntesis proporciona un buen desempeño en sistemas con dinámicas altamente no lineales. Abstract: This work presents the design and implementation of a robust controller to stabilize a helicopter of 3 Degrees of Freedom (DOF). This experimentation platform is developed by the company Quanser Inc. The characterization of some parameters of the helicopter, the structured uncertainties and the inclusion of weight functions allow to obtain a controller by μ-synthesis. The stabilization of the helicopter is carried out by the control of the three most important angles: elevation, pitch and travel. The experimental results show that the control design by the technique of μ-synthesis provides a good performance in systems with highly non-linear dynamics. Keywords: µ-synthesis, 3 DOF helicopter, robust control.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.