Suppressing the Noise in Measured Signals for the Control of Helicopters

Dube, D. Y.; Patel, Hiren G.

doi:10.1142/s0219477519500020

Cited by 10 publications

(12 citation statements)

References 8 publications

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“…• Chemical Sensors: Detect specific chemicals or environmental pollutants, useful in environmental monitoring [43]. • Thermal Cameras: Useful for search and rescue operations at night or for detecting energy inefficiencies in buildings [37].…”

Section: Specialized Applicationsmentioning

confidence: 99%

Survey of Advanced Nonlinear Control Strategies for UAVs: Integration of Sensors and Hybrid Techniques

Abbas,

Zafar

et al. 2024

Sensors

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This survey paper explores advanced nonlinear control strategies for Unmanned Aerial Vehicles (UAVs), including systems such as the Twin Rotor MIMO system (TRMS) and quadrotors. UAVs, with their high nonlinearity and significant coupling effects, serve as crucial benchmarks for testing control algorithms. Integration of sophisticated sensors enhances UAV versatility, making traditional linear control techniques less effective. Advanced nonlinear strategies, including sensor-based adaptive controls and AI, are increasingly essential. Recent years have seen the development of diverse sliding surface-based, sensor-driven, and hybrid control strategies for UAVs, offering superior performance over linear methods. This paper reviews the significance of these strategies, emphasizing their role in addressing UAV complexities and outlining future research directions.

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Section: Specialized Applicationsmentioning

confidence: 99%

Survey of Advanced Nonlinear Control Strategies for UAVs: Integration of Sensors and Hybrid Techniques

Abbas,

Zafar

et al. 2024

Sensors

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“…Twin Rotor MIMO System (TRMS) is a type of UAVs. Their ability to tilt their angle of flight, hovering, take-off and landing in irregular locations provide special interest to researchers 3 , 4 . A prototype of the TRMS resembles to a helicopter which can be served as an effective tool for experiments in a real-time environment 5 .…”

Section: Introductionmentioning

confidence: 99%

Real-time robust generalized dynamic inversion based optimization control for coupled twin rotor MIMO system

Abbas

Pan

Raheem

et al. 2022

Sci Rep

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This work is used to design a novel robust optimization control law augmented with Robust Generalized Dynamic Inversion (RGDI) for continuous varying perturbations in the Twin Rotor MIMO System (TRMS). The perturbations like coupling effect, un-known states, gyroscopic disturbance torque, parametric uncertainties and parametric disturbances are considered as unwanted signal which should be optimized by an efficient controller. The variable structured systems like the TRMS (prototype) have great focus due to its high computational cost with a higher order non-linear behavior. The RGDI based controller designed to remove nonlinear dynamics as well as to avoid singularity issue with the augmentation of stability based mathematical operations (lyapunov stability analysis, controllability and observability matrices ) in the presence of considered perturbations during implementation. In this paper, we develop estimation of state deviation calculation between control angles and desired angles known as Euclidean error norm. The next step was to design RGDI based controller [Sliding Mode Control (SMC) and $${H_\infty }$$ H ∞ optimization] to minimize considered perturbations as well as the computational cost. The sharp (rapid) chattering phenomena in RGDI based SMC reduce the actuators performance that goes towards the failure of actuators. While the RGDI based $${H_\infty }$$ H ∞ optimization overcome the computational cost and minimizes $${H_\infty }$$ H ∞ norm that’s guaranteeing the robust stability as well as robust performance. The robustness of the optimization control technique validated by taking its worst case via MATLAB-Simulation. A real-time implementation applied to evaluate the worth of novel dynamic approach.

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“…The decoupled system is optimized via swarm optimization, based on the PID control strategy elaborated in [6]. The classical control elaborated through an efficient output response of TRMS defined in [7,8]. The combination of the nonlinear control with a classical control represented in [9,10].…”

Section: Introductionmentioning

confidence: 99%

H∞ Model Based Control via Mixed Sensitivity for 2DOF Control of Twin Rotor MIMO System With Experimental Validation

Abbas

Zar

Raheem

et al. 2022

Preprint

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This article provides a comprehensive study about optimization and real-time implementation of H∞ model-based controller for uncertain systems (having external perturbations) using robust control methods. The complicated air vehicle modeling is quite difficult because of highly nonlinear behavior, un-modeled states, and cross-coupling effect. The helicopter flight control also depends on two rotors generating continuous thrust simultaneously in two different directions. Simple linear feedback controllers cannot ensure the stability of highly nonlinear systems like a helicopter. The controllability and observability full rank matrix output ensure the credibility of the system before a controller design. The design of a robust controller for the desired flight control, demands the availability of all its states and varying parameters for real-time robust feedback control. However, its prototype, Twin-rotor MIMO System (TRMS) facilitates the researchers and control engineers in terms of the real-time environment of a helicopter flight control. Various control strategies are presented to elaborate the behavior of the MIMO system and the limitations of robust control methods. Each control strategy has been comprehensively discussed with the stability analysis and the design requirements. The considered control techniques, such as the loop-shaping control and H∞ model-based control augmented with mixed sensitivity control function, make use of control in such a way that robust stability and robust performance are ensured for highly nonlinear systems. Model-based H∞ optimization technique elaborates the robustness and stability of the system by reducing tracking error of all its states towards origin and thereafter system becomes stable for an infinite period. The loop-shaping control performance as compared to H∞ model-based control has some limitations to ensure closed-loop robustness and real-time implementation under perturbations. The performance evaluation is done at the end which shows that the H∞ model-based control gives optimal robust performance including perturbations and coupling effect. The real-time implementation on MATLAB/Simulation via personal computer validates the worth of the optimization method in the presence of uncertainties (matched, unmatched, coupling effect) of a linearized state-space model of the TRMS system.

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Suppressing the Noise in Measured Signals for the Control of Helicopters

Cited by 10 publications

References 8 publications

Survey of Advanced Nonlinear Control Strategies for UAVs: Integration of Sensors and Hybrid Techniques

Survey of Advanced Nonlinear Control Strategies for UAVs: Integration of Sensors and Hybrid Techniques

Real-time robust generalized dynamic inversion based optimization control for coupled twin rotor MIMO system

H∞ Model Based Control via Mixed Sensitivity for 2DOF Control of Twin Rotor MIMO System With Experimental Validation

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