Synchronous Pitch and Yaw Orientation Control of a Twin Rotor MIMO System Using State Varying Gain Sliding Mode Control

Palepogu, Koteswara Rao; Mahapatra, Subhasish

doi:10.1007/s13369-024-08869-y

Arab J Sci Eng

2024

DOI: 10.1007/s13369-024-08869-y

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Synchronous Pitch and Yaw Orientation Control of a Twin Rotor MIMO System Using State Varying Gain Sliding Mode Control

Koteswara Rao Palepogu,

Subhasish Mahapatra

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Cited by 1 publication

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Differentiator- and Observer-Based Feedback Linearized Advanced Nonlinear Control Strategies for an Unmanned Aerial Vehicle System

Irfan,

Zhao,

Ullah

et al. 2024

Drones

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This paper presents novel chattering-free robust control strategies for addressing disturbances and uncertainties in a two-degree-of-freedom (2-DOF) unmanned aerial vehicle (UAV) dynamic model, with a focus on the highly nonlinear and strongly coupled nature of the system. The novelty lies in the development of sliding mode control (SMC), integral sliding mode control (ISMC), and terminal sliding mode control (TSMC) laws specifically tailored for the twin-rotor MIMO system (TRMS). These strategies are validated through both simulation and real-time experiments. A key contribution is the introduction of a uniform robust exact differentiator (URED) to recover rotor speed and missing derivatives, combined with a nonlinear state feedback observer to improve system observability. A feedback linearization approach, using lie derivatives and diffeomorphism principles, is employed to decouple the system into horizontal and vertical subsystems. Comparative analysis of the transient performance of the proposed controllers, with respect to metrics such as settling time, overshoot, rise time, and steady-state errors, is provided. The ISMC method, in particular, effectively mitigates the chattering issue prevalent in traditional SMC, improving both system performance and actuator longevity. Experimental results on the TRMS demonstrate the superior tracking performance and robustness of the proposed control laws in the presence of nonlinearities, uncertainties, and external disturbances. This research contributes a comprehensive control design framework with proven real-time implementation, offering significant advancements over existing methodologies.

show abstract

Differentiator- and Observer-Based Feedback Linearized Advanced Nonlinear Control Strategies for an Unmanned Aerial Vehicle System

Irfan,

Zhao,

Ullah

et al. 2024

Drones

View full text Add to dashboard Cite

show abstract

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Synchronous Pitch and Yaw Orientation Control of a Twin Rotor MIMO System Using State Varying Gain Sliding Mode Control

Cited by 1 publication

References 38 publications

Differentiator- and Observer-Based Feedback Linearized Advanced Nonlinear Control Strategies for an Unmanned Aerial Vehicle System

Differentiator- and Observer-Based Feedback Linearized Advanced Nonlinear Control Strategies for an Unmanned Aerial Vehicle System

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