Adaptive robust control for perturbed coupled nonlinear Twin Rotor Multiple Input-Multiple Output System

International Journal of Electrical and Electronics Engineering

© 2017 by SSRG - IJEEE Journal

Volume 4 Issue 12

Year of Publication : 2017

Authors : Dinh Van Nghiep

10.14445/23488379/IJEEE-V4I12P102

How to Cite?

Dinh Van Nghiep, "Adaptive robust control for perturbed coupled nonlinear Twin Rotor Multiple Input-Multiple Output System," SSRG International Journal of Electrical and Electronics Engineering, vol. 4,  no. 12, pp. 8-12, 2017. Crossref, https://doi.org/10.14445/23488379/IJEEE-V4I12P102

Abstract:

The paper proposes an approach to design adaptive robust control for tracking control a TRMS (Twin Rotor MIMO System), which is a perturbed coupled nonlinear system with two degrees of freedom. The here proposed controller uses an infinite horizon and continuous time nonlinear model. Hence it always guarantees the adaptive robust tracking stability of obtained closed loop systems in real time, without using an additional penalty function in objective function as usual. The obtained simulation result by using this controller has confirmed its promising applicability in practice.

Keywords:

TRMS, tracking control, Adaptive robust control, LQR.

References:

[1] Ahmad, S.M., Chipperfield, A.J., Tokhi, M.O. (2002), “Dynamic modeling and open loop control of twin rotor multi input multi output system”. J. Syst. Control Eng.
[2] Lu, T.W., Wen, P. (2007), “ Time optimal and robust control of twin rotor system”.IEEE International Conference on Control and Automation Guangzhou, China.
[3] Pratap, B., Purwar, S. (2010), “Sliding mode state observer for 2-DOF twin rotor MIMO system”. International Conference on Power, Control and Embedded Systems, India.
[4] Ramalakshmi, A.P.S., Manoharan, P.S. (2012), “Nonlinear modeling and PID control of twin rotor MIMO system”.: Proceedings of IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), pp. 366–369, India.
[5] Sumit Kumar Pandey and Vijaya Laxmi (2015), “Optimal Control of Twin Rotor MIMO System Using LQR Technique”. In Computational Intelligence in Data Mining-Vol.1/Smart Innovation, Systems and Technologies 31. Springer 2015.
[6] Akbar Rahideh (2009), “Model Identification and Robust Nonlinear Model Predictive Control of a Twin Rotor MIMO System”. Dissertaion, Queen Mary, University of London.
[7] Nguyen Doan Phuoc and Le Thi Thu Ha, “Constrained Output Tracking Control for Time-Varying Bilinear Systems via RHC with Infinite Prediction Horizon”. Journal of Computer Science and Cybernetics, Vol.31, No.2, pp. 97-106, 2015.
[8] Satapathy, Asutosh and Nayak, Rashmi Ranjan (2010), “Modelling of twin rotor MIMO systems”. Bachelor thesis, National Institute of Technology Rourkela 2010.
[9] Azamat Tastemirov, Andrea Lecchini Visintini and Raphael Morales (2010), “Complete Dynamic Model of the Twin Rotor MIMO System (TRMS) with experimental Validation”. Proceedings of the 39th European Rotorcraft Forum 2013 (ERF 2013), Moscow, Russia.
[10] Nguyen Nhu Hien and Dinh Van Nghiep (2014), “Dynamic modelling of Twin Rotor MIMO System”. Journal of Control and Automation. Special Issue, 12/201, pp.32-39.
[11] Nocedal,J. and Wright,S.J. (2006), “Numerical Optimization”. Springer-New York.
[12] Dinh Van Nghiep, Nguyen Nhu Hien, Nguyen Thu Ha, Nguyen Doan Phuoc (2017), “Input Constrained Hover Control with Receding Horizon LQR for Disturbed TRMS”, IEEE International Conference on Systems Science and Engineering.