Design of robust proportional–integral–derivative controller for generalized decoupled twin rotor multi-input-multi-output system with actuator non-linearity

Abstract

This work addresses the problem of robust stabilization of twin rotor multi-input-multi-output system in the presence of inherent actuator non-linearity and plant structured uncertainties due to parameter variation. In order to achieve so, first a generalized decoupling technique is implemented to eliminate the cross coupling effect which are present in between the input and output of main and tail rotors of twin rotor multi-input-multi-output system. Next, two proportional–integral–derivative controllers are employed to control the main and tail rotors independently. The ranges of the parameters of the controllers are evaluated based on the Kharitonov theorem so as to ensure robust stability in the presence of structured uncertainties. The values of the controller parameters are finally sought out of these robust ranges with bacterial foraging optimization technique such that satisfactory time domain criteria are met. Furthermore, the compensated system is analyzed in frequency domain with common actuator non-linearity dead-zone and saturation together. The performance of the designed controller is evaluated through both simulation and experimental results. The controllers are found to perform efficiently ensuring adequate robust stability even in the presence of uncertainty, disturbance and actuator non-linearity.

Disturbance observer based control of twin rotor aerodynamic system

“…The speed of rotation is controlled by magnitude of voltage of the main and tail motors. The dynamics of TRAS as presented in [19][20][21] are used in this paper. The parameters used in the equations that follow are given in Table 1.…”

“…Therefore this section focuses on designing of decoupler so that the interaction between u 1 and y 2 (coupling effect) is minimized. A general decoupling method given in [21] is used to obtain a decoupler for the plant.…”

“…Tail rotor Settling time Peak overshoot Settling time Peak overshoot SMC with NL SO [24] 40 0 10 0 BFO optimized PID [21] approximates the behavior of low pass filter. Similarly the bode plots of DOB designed through H ∞ approach for the tail rotor subsystem is shown in Figure 10b.…”

A QFT Robust Controller as a Remedy for TRMS

“…A practically implementable model predictive controller design for a TRMS was presented in (Raghavan & Thomas, 2017). Two proportional-integral-derivative controllers were employed in (Pandey et al, 2018) to control the main and tail rotors of TRMS, independently. Kharitonov's robust stability theorem was used to evaluate the ranges of the controller gains in the presence of structured uncertainties.…”

Practical Real-Time Implementation of a Disturbance Rejection Control Scheme for a Twin-Rotor Helicopter System Using Intelligent Active Force Control

“…Amongst the various impediments encountered by the helicopter system are ensuring stabilized motion maneuvering during trajectory tracking and rejecting various forms of external disturbances. Pandey et al [2] implemented both in simulation and experimentation a robust proportionalintegral-derivative (PID) controller tuned using a bacterial foraging optimization (BFO) method, to solve the stabilizing problem of a twin-rotor helicopter subjected to actuator nonlinearity, disturbances, and uncertainties, on the basis of Kharitonov robust stability criteria. However, the PID compensation is not able to reject various types of disturbances or model uncertainties, and that its performance is strongly influenced by the coupling effect as well.…”