Elevation and pitch identification, controller design and implementation of a small scale 2-DOF helicopter.

Abstract

The helicopter is a good study example for Multiple-Input Multiple-Output (MIMO) non- linear system with unknown constant parameters, and process disturbance. This project focuses on designing and constructing a bench model of 3-DOF helicopter using di ff erent hardware parts BLDC motors,ESC,Rotary encoders. . . etc. We start by developing a Mathematical model of the system and identifying the di ff erent parameters, then a Linear-Quadratic Gaussian (LQG) controller is designed and evaluated.