RLS Estimation and Sliding Mode Control with Integral Action for a Twin Rotor MIMO System

Hernandez, Byron; Steven, Ospina H.; Angelo, Marin L.; Giraldo, Eduardo

doi:10.1109/ccac.2019.8920887

Cited by 8 publications

(8 citation statements)

References 8 publications

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“…The Proportional Integral Derivative (PID) control, discussed in [10,11] as a fractional controller, and further elaborated in [12] for the coupled system's degree of freedom, is one approach. Nonlinear control combined with estimation control for addressing highly nonlinear systems is detailed in [13]. Swarm optimization is employed to optimize the decoupled system, building upon the PID control strategy presented in [14].…”

Section: Introductionmentioning

confidence: 99%

A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An experimental study

Abbas,

Liu,

Iqbal

2024

PLoS ONE

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This article introduces a cutting-edge H∞ model-based control method for uncertain Multi Input Multi Output (MIMO) systems, specifically focusing on UAVs, through a flexible mixed-optimization framework using the Method of Inequality (MOI). The proposed approach adaptively addresses crucial challenges such as unmodeled dynamics, noise interference, and parameter variations. Central to the design is a two-step controller development process. The first step involves Nonlinear Dynamic Inversion (NDI) and system decoupling for simplification, while the second step integrates H∞ control with MOI for optimal response tuning. This strategy is distinguished by its adaptability and focus on balancing robust stability and performance, effectively managing the intricate cross-coupling dynamics in UAV systems. The effectiveness of the proposed approach is validated through simulations conducted in MATLAB/Simulink environment. Results demonstrated the efficiency of the proposed robust control approach as evidenced by reduced steady-state error, diminished overshoot, and faster system response times, thus significantly outperforming traditional control methods.

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Section: Introductionmentioning

confidence: 99%

A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An experimental study

Abbas,

Liu,

Iqbal

2024

PLoS ONE

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“…Additionally, unlike DOB-based control schemes, robust control systems compromise nominal performance to improve robustness. However, based on the extensive research conducted in few years ago, control problems for TRAS have been successfully solved using intelligent computational techniques including neural networks, fuzzy systems, sliding model control, integral sliding model and evolutionary algorithms techniques [10,11].…”

Section: Introductionmentioning

confidence: 99%

“…The prime goal of model-based FD systems is to generate a good residual, which tends to either perfectly decouple the unknown inputs or achieve adequate agreement between robustness to the unknown inputs and simultaneously high sensitivity to the fault. Initially, research was focused on perfectly decoupling the unknown inputs from the residual [9,10], followed by optimization techniques in the 1990s to design an optimal observer using LMI formulation [11,12].…”

Section: Introductionmentioning

confidence: 99%

Robust Residual Generator Design for Sensor Fault Detection in Twin Rotor Aerodynamic System

Ahmad,

Azeem,

Zidan

et al. 2023

Preprint

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The twin rotor aerodynamic system (TRAS) reflects the dynamics of vertical take-off rotor systems. Controlling such systems for reference tracking and stabilization is difficult due to the nonlinear nature of the system and the significant cross-coupling between the main and tail rotor inputs and outputs. The TRAS considers the coupling effect and gyroscopic disturbance torque as unwanted signals. For TRAS safe and reliable operation, proper control input is vital along with fast fault indication. This paper addresses the problem of a robust residual generator design to detect the output sensor fault in the linear model of TRAS subjected to \({l}_{2}\)-norm bounded disturbance. For fault detection (FD) purposes, a robust observer is proposed using a co-inner-outer factorization approach to maximize the sensitivity/robustness criterion. Observer-based residual generator design is formulated as H-/H∞ optimization problem and a solution is obtained by solving the Riccati equation. The factorization technique overcomes the computational cost and minimizes H∞ norm which guarantees observer stability and robust performance. Furthermore, a linear quadratic regulator-based state feedback controller is proposed to meet the system's desired transient response requirement. The controller and residual generator designs' effectiveness are validated through MATLAB simulations. Successful fault detection in the output sensor of TRAS depicts the good performance of the proposed observer.

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“…In [10], PID control is discussed as a fractional controller based on the degree of freedom, while [11] explains its application for UAVs with a degree of freedom. In [12,13], estimation control with nonlinear control is used for highly nonlinear systems. Additionally, [14] presents a decoupled system optimized via swarm optimization based on the PID control strategy.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Recursive Sliding Mode Control (ARSMC)-Based UAV Control for Future Smart Cities

Abbas

Liu

2023

Applied Sciences

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The rapid expansion of the Internet and communication technologies is leading to significant changes in both society and the economy. This development is driving the evolution of smart cities, which utilize cutting-edge technologies and data analysis to optimize efficiency and reduce waste in their infrastructure and services. As the number of mobile devices and embedded computers grows, new technologies, such as fifth-generation (5G) cellular broadband networks and the Internet of Things (IoT), are emerging to extend wireless network connectivity. These cities are often referred to as unmanned aerial vehicles (UAVs), highlighting their innovative approach to utilizing technology. To address the challenges posed by continuously varying perturbations, such as unknown states, gyroscopic disturbance torque, and parametric uncertainties, an adaptive recursive sliding mode control (ARSMC) has been developed. The high computational cost and high-order nonlinear behavior of UAVs make them difficult to control. The controller design is divided into two steps. First, a confined stability analysis is performed using controllability and observability to estimate the system’s stability calculation. Second, a Lyapunov-based controller design analysis is systematically tackled using a recursive design procedure. The strategy design aims to enhance robustness through Lyapunov stability-based mathematical analysis in the presence of considered perturbations. The ARSMC introduces new variables that depend on state variables, controlling parameters, and stabilizing functions to minimize unwanted signals and compensate for nonlinearities in the system. The paper’s significant contribution is to improve the controlled output’s rise time and stability time while ensuring efficient robustness.

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RLS Estimation and Sliding Mode Control with Integral Action for a Twin Rotor MIMO System

Cited by 8 publications

References 8 publications

A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An experimental study

A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An experimental study

Robust Residual Generator Design for Sensor Fault Detection in Twin Rotor Aerodynamic System

Adaptive Recursive Sliding Mode Control (ARSMC)-Based UAV Control for Future Smart Cities

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