Design and performance comparison of different adaptive control schemes for pitch angle control in a twin – rotor – MIMO – system

Abstract

The Twin Rotor MIMO System is a higher order non-linear plant and is inherently unstable due to cross coupling between tail and main rotor. In this paper only the control of main rotor is considered which is non-linear and stable by using adaptive schemes. The control problem is to achieve perfect tracking for input reference signals while maintaining robustness and stability. Four adaptive schemes were implemented, two using Model Reference Adaptive Control under which MIT rule and Modified MIT rule are used. The other two using Adaptive Interaction, namely, Adaptive PID and Approximate Adaptive PID. It is observed that adaptive schemes fulfill all the three system performance requirements at the same time. Modified MIT rule was found to give superior performance in comparison to other controllers. Also Approximate Adaptive PID was able to stabilize the main rotor and cancel the effect of cross coupling between tail rotor and main rotor when operating simultaneously without the need for designing decouplers for the system. Thus the main rotor can be made independent from the state of the tail rotor by using Approximate Adaptive PID.

Developing low-cost two wheels balancing scooter using proportional derivative controller

“…Another approach uses only a fuzzy controller [22] and a double loop fuzzy controller [23] to control a self-balancing robot. Another approach is using optimized PID for a balancing system [24], optimal control [25], [26] and adaptive control [27]. A comparison of an optimized PID and an optimized fuzzy show that optimized fuzzy performs faster and less jerky [28].…”

Numerous speeds-loads controller for DC-shunt motor based on PID controller with on-line parameters tuning supported by genetic algorithm

“…Today, artificial cleverness is a beneficial tool when applied to solving engineering challenges. Several intelligent techniques are employed on the classic PID controller for performance improvment [7][8][9][10][11][12][13]. The genetic process is significantly used in the modern control arrangement [14][15][16][17][18].…”

Design of a soft sensing technique for measuring pitch and yaw angular positions for a Twin Rotor MIMO System

“…Rao et al, 10 reported design of an observer using robust PID controller logic with H∞ observer to obtain the stable output in TRMS with sensor and actuator failure. Netto et al, 11 reported an Adaptive PID controller to cancel the effect of cross coupling between the tail rotor and main rotor when operating simultaneously in a TRMS. Adaptive linear quadratic regulator design for stable system operating at a single reference point with six tail and main rotors is reported by Faisal and Omar Waleed.…”