Networked guaranteed cost PID attitude tracking control of a laboratory flight system

This paper investigates the networked flight control system for a laboratory 3 degrees of freedom (3-DOF) helicopter,and presents a novel networked guaranteed cost proportion-integration-differentiation (PID) attitude tracking control method with consideration of time-varying delay and packet dropouts.As the 3-DOF helicopter characteristics of multi-input multi-output (MIMO),channel coupling,and nonlinearity,a genera linear time delay system is modeled by analyzing the motions on elevation,pitch,and travel axis.By using the reciprocal convex approach,the free weight matrix,and the cone complementarity linearization (CCL) method,the PID tracking controller parameters can be designed if the related linear matrix inequalities (LMIs) are feasible.Finally,a practical experiment of laboratory 3-DOF helicopter is given,and the experimental results show that the proposed method is effective.