This paper discusses the scope of designing and implementing a sliding mode controller (SMC) for a Twin ROTOR MIMO System (TRMS). SMC, by application of a discontinuous control signal, forces the system to slide along a cross-section of the system's normal behavior. The system dynamics are decoupled into horizontal and vertical subsystems and two separate SMCs are designed for each of them. The focus is given to real time implementation of the controllers on TRMS since the existing works in literature are mostly concentrated on analysis and simulation. Since all the system states are not available for measurement, a nonlinear state observer is designed to estimate the inaccessible states of the TRMS. Real time performance of the SMC with the nonlinear state observer has been shown.
Keywords-Sliding Mode Controller (SMC), Integral Sliding Mode Controller (ISMC), Nonlinear State Observer, Twin Rotor MIMO System (TRMS), Multi Input Multi Output(MIMO).
This research work demonstrates a method to design adaptive controller for a class of nonlinearly parameterized systems with unknown parameters. The main motivation behind this work is to deal with the widely known issues with adaptive control systems like oscillatory transient response, sluggish performance and poor parameter convergence. Multiple identification models with second level adaptation are used to describe the region of uncertainty for the given plant and to provide the best possible controller parameters. The two levels involved in the adaptive process improves the performance. A special attention is paid to the persistence of excitation condition and parameter convergence. Plants with nonlinear parameterizations are considered to ascertain the applicability of the proposed methodology. A Simulation work demonstrates the efficacy of the proposed methodology.Index Terms-Adaptive control, feedback linearization, multiple model, second level adaptation.
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