Experimental evaluations of reference governors control schemes for a RC helicopter

This paper investigates experimental evaluations of control schemes for systems with constraints on states and control inputs. Although reference governors are the practical control schemes, the experimental evaluations have been hardly reported. Therefore, it is important to investigate experimental evaluations of reference governors. In this paper, We apply reference governors to a RC (Radio Controlled) model helicopter control system. We design a controller by loop shaping design procedure and construct a closed loop system for the RC model helicopter. We evaluate the effectiveness of reference governors by simulations and experiments.