Design and Experimental Implementation of Multi-loop LQR, PID, and LQG Controllers for the Trajectory Tracking Control of Twin Rotor MIMO System

Valluru, Sudarshan K.; Singh, Madhusudan; Ayush,; Dharavath, Abhiraj

doi:10.1007/978-981-13-8618-3_62

Cited by 4 publications

(1 citation statement)

References 3 publications

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“…In a few decades ago, many researchers proposed the different types of control techniques to control the performance of TRMS on horizontal and vertical planes. For instance, the proposed control techniques that applied in TRMS system such as Proportional-Integral-Derivative (PID) controller [4][5][6][7][8][9], Linear Quadratic Regulator (LQR) [10], Sigmoid-PID (SPID) controller [11], Fractional-order PID (FOPID) controller [12][13][14][15][16][17], Fuzzy Logic controller [18], Sliding Mode Controller (SMC) [19][20][21], Fuzzy-PID (FPID) controller [22][23][24][25][26] and Model Predictive Controller (MPC) [27]. Nevertheless, researchers and scientific community put the greatest attention in the combinations of different type control technique based PID controller.…”

Section: Introductionmentioning

confidence: 99%

Data Driven Sigmoid Proportional-Integral-Derivative (SPID) Controller for Twin Rotor MIMO System

Qian¹,

Ghazali²,

Ahmad³

et al. 2023

JESA

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This paper presents a data driven Sigmoid Proportional-Integral-Derivation (SPID) controller for a Twin Rotor Multiple-Input-Multiple-Output (MIMO) System (TRMS). A time-varying PID parameters based on sigmoid function is adopted to solve the low control accuracy of the conventional PID controller. In particular, the parameters of new version controller were vigorously changed based on its error signal of sigmoid function where its variability is limited in a predefined upper and lower bound. These SPID parameters are then optimized by using Adaptive Safe Experimentation Dynamics (ASED) method such that the control performance accuracy in terms of trajectory tracking error and control input energy are minimized. The simulations of step response analysis and stability analysis are conducted to evaluate the effectiveness of the proposed SPID controller compared to PID controller on TRMS system. Consequently, the results obtained from the simulations revealed that the SPID controller has successfully produced improvement in terms of objective function, 𝐽, total norm of error, 𝑒̅ 1 + 𝑒̅ 2 and total norm of output, 𝑢 ̅ ℎ + 𝑢 ̅ 𝑣 by reduced 6.84%, 6.38% and 4.25%, respectively compared to the PID controller. In addition, the results of Integral-Absolute-Error (IAE), Integral-Square-Error (ISE), Integral-Time-Absolute-Error (ITAE) and Integral-Square-Error (ITSE) are proven that the SPID controller is outperform on horizontal and vertical planes for TRMS system in comparison with PID controller.

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