Sliding mode state observer for 2-DOF twin rotor MIMO system

Pratap, Bhanu; Purwar, Shubhi

doi:10.1109/icpces.2010.5698618

Cited by 19 publications

(11 citation statements)

References 19 publications

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“…The non-linear equations and dynamics of phenom-logical model of TRAS as presented in [26][27] are used in this paper is shown in Fig. 1.…”

Section: A Linearized State Space Model Of Trasmentioning

confidence: 99%

“…Decoupler Design This section focuses on the design of a decoupler for TRAS to get rid of the coupling effect brought on by the plant. A generalized decoupling method is employed to generate a decoupled plant model [27]. This method may be used to determine a decoupler for a square plant "M" using equation 1.…”

Section: A Linearized State Space Model Of Trasmentioning

confidence: 99%

“…[26] claims that the issue of disturbance rejection for TRAS is resolved using a H ∞ based methodology and LQG as the outer loop baseline feedback controller. The outer loop baseline feedback controller in a disturbance observer (DOB)-based control system is built for reference tracking and stability, while the inner loop DOB is meant to estimate and reject disturbances and reduce uncertainty [27]. The inner loop that estimates and corrects for disturbances is not active when there are none.…”

Section: Introductionmentioning

confidence: 99%

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Disturbance Observer based Fractional Order Iterative Learning Control of Helicopter Model

2023

1st International Conference on Modern and Advanced Research Icmar 2023

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The Twin Rotor Aerodynamic System (TRAS) provides a general representation of the aerodynamic characteristics of helicopters as well as other hovering rotor vehicles. Due to the nonlinear nature of the system and the substantial cross-coupling between the inputs and outputs of the main and tail rotors, managing such a system for either stabilization or reference tracking is a challenging challenge. The reference tracking and disturbance rejection problem for a Multi-Input Multi-Output (MIMO) TRAS is investigated in this study using a hybrid architecture based on a Fractional Order Proportional Integral Derivative (FOPID) controller with an Extended Kalman Filter (EKF) as a Disturbance Observer (DOB) and Proportional Derivative Iterative Learning Control (PD-ILC) (FOPID-EKF-DOB-PD-ILC). The system is divided into subsystems for the main and tail rotors. Since TRAS is unstable and ILC is only used for stable systems, FOPID controller is employed to stabilize the plant. Sequential quadratic programming (SQP) is used to calculate the parameters of the FOPID controller. To lessen tracking error and gradually enhance system performance, PD-ILC is applied as a feedforward controller. ILC is employed in this situation as an external controller with no effect on the current control architecture. The FOPID-EKF-DOB controller adjusts the new control input according to the PD-ILC control law. Results from the simulation are used to evaluate the efficiency of the suggested strategy based on performance metrics.

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“…The non-linear equations and dynamics of phenom-logical model of TRAS as presented in [26][27] are used in this paper is shown in Fig. 1.…”

Section: A Linearized State Space Model Of Trasmentioning

confidence: 99%

Section: A Linearized State Space Model Of Trasmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Disturbance Observer based Fractional Order Iterative Learning Control of Helicopter Model

2023

1st International Conference on Modern and Advanced Research Icmar 2023

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“…In [4] the time optimal control method has been proposed for twin rotor MIMO system. In [5] the author discuss about the sliding mode state observer controller for TRMS system. Here the Lyapunov method is used to derive the asymptotic stability conditions for robust and global sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

Optimal Control of Twin Rotor MIMO System Using LQR Technique

Pandey

Laxmi

2014

Smart Innovation, Systems and Technologies

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In this paper, twin rotor multi input multi output system (TRMS) is considered as a prototype laboratory set-up of helicopter. The aim of studying the model of TRMS and designing the controller for it is to provide a platform for controlling the flight of helicopter. An optimal state feedback controller based on linear quadratic regulator (LQR) technique has been designed for twin rotor multi input multi output system. TRMS is a nonlinear system with two degrees of freedom and cross couplings. The mathematical modeling of TRMS has been done using MATLAB/SIMULINK. The linearised model of TRMS is obtained from the nonlinear model. The simulation results of optimal controller are compared with the results of conventional PID controller. The appropriateness of proposed controller has been shown both in terms of transient and steady state response.

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“…The modeling and controller design of TRCS has been addressed in [15]- [19]. Different kinds of observers based on SMC or NN are proposed in [20]- [22]. The detailed description of the CNN and its approximation properties can be seen in [23].…”

Section: Introductionmentioning

confidence: 99%

Neuro sliding mode controller for twin rotor control system

Pratap

2012

2012 Students Conference on Engineering and Systems

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This paper presents a neuro sliding mode controller for the twin rotor control system (TRCS). The TRCS belongs to a class of nonlinear systems having unstable coupled dynamics. A method is proposed to design a switching surface in the presence of mismatched uncertainties. The nonlinearities of the TRCS are assumed to be unknown, which are estimated using Chebyshev neural network (CNN). The design technique is simple and computationally efficient. The validity of the controller is demonstrated with simulation results.Index Terms--Chebyshev neural network, nonlinear systems, sliding mode control, twin rotor control system.

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Sliding mode state observer for 2-DOF twin rotor MIMO system

Cited by 19 publications

References 19 publications

Disturbance Observer based Fractional Order Iterative Learning Control of Helicopter Model

Disturbance Observer based Fractional Order Iterative Learning Control of Helicopter Model

Optimal Control of Twin Rotor MIMO System Using LQR Technique

Neuro sliding mode controller for twin rotor control system

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