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This paper studies the performance of a model-free LQR based PID (i-LQR-PID)controller designed for tracking control problem of a 2-DoF laboratoryhelicopter. The control problem addressed in 2-DoF helicopter system aims totrack the desired pitch and yaw axes trajectories despite disturbed operatingconditions. In addition to the unpredictable variations, the 2-DoF helicopterdynamic is highly nonlinear with having strong cross-couplings in their modelsas well as being open loop unstable system. Thus, we propose a model-free LQRbased PID control strategy in order to achieve better trajectory trackingcontrol objectives. Robustness tests are performed experimentally to show theeffectiveness of the model-free control.

Model-free LQR based PID controller for trajectory tracking of 2-DoF helicopter: comparison and experimental results