Gain scheduled LQ optimal control of a parametric light commercial helicopter model at sea level

Abdulhamitbilal E., Jafarov E. M., Guvenc L.

9th WSEAS International Conference on Automatic Control, Modeling and Simulation, İstanbul, Turkey, 27 - 29 May 2007, pp.290-292 identifier

  • Publication Type: Conference Paper / Full Text
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.290-292
  • Istanbul Technical University Affiliated: Yes


In this study, linearized MIMO helicopter flight dynamics are calculated via the commercial software Flight-Lab. In the following step, parametric linearized flight dynamics are obtained via curve fitting of each matrix element for 0- 120 kt forward speed range under sea level flight conditions. Then, an LQ optimal control law is designed as an adaptive controller with gain scheduling, which is widely used in the aerospace field. The controller stabilizes the system and eliminates any initial errors in approximately 15 seconds. Stability of the open-loop and closed-loop systems are checked by plotting the eigenvalues for the calculated speed range. For different initial conditions, the time responses of the states and control inputs are used to demonstrate the controller performance and closed-loop system behavior that are achieved. Linearized flight dynamics matrices with optimal gain for 40 kt (67.5 ft/s) forward speed at 90ft (sea level) are given. Parameterization of matrices, calculation of adaptive controller (gain scheduler) and simulations are done by using Matlab-Simulink programming.