Verification of reference governor control approaches to experimental systems with control constraints

Constraints appeared most commonly as actuator bounds on control variables and/or physical limits on state variables, are ihherent characteristics in almost all practical control systems. Violations of such constraints drastically degrade system performances and in worst cases lead to instability. In order to escape the performance degradation as much as possible, colorful control approaches for such systems with state and/or control constraints have been well studied in recent years. This paper verifies the control approaches, an off line reference management technique and a static and a dynamic anti-windup control, for such linear constrained systems. To this goal, we practically identify a mathematical model of a RC helicopter by frequency response method, design a controller by loop shaping design procedure and construct a real closed loop system with the RC helicopter. In practice control, we apply each control approaches to its yawing tracking control problem. At last, we show results gained from the approaches and discuss effectiveness and validity of each approaches.