Design and real-time implementation of a decentralized sliding mode controller for twin rotor multi-input multi-output system

Abstract

The article deals with a real-time implementation of a decentralized sliding mode controller applied to a twin rotor multi-input multi-output system, a system with 2 degrees of freedom, strongly coupled and its dynamic resembles that of a helicopter. The work is motivated by the fact that in the literature several control techniques have been proposed for the twin rotor multi-input multi-output system control without being applied to the system, and the considered authors presented just the simulation results. To control the vertical and horizontal positions of the twin rotor multi-input multi-output system, the system is decoupled into two subsystems, vertical and horizontal, controlled by two independent sliding mode regulators calculated from the mathematical models of vertical and horizontal subsystems, respectively. From the results of real-time control of the twin rotor multi-input multi-output system in stabilization and tracking modes, and performing robustness and disturbance rejection tests, the effectiveness of the suggested control scheme was proven.

Real Time Implementation of Type-2 Fuzzy Backstepping Sliding Mode Controller for Twin Rotor MIMO System (TRMS)

“…An interval type-2 fuzzy logic is used to solve the chattering problem due to the correction term. Compared to previous studies on sliding mode control [9,11], the proposed control approach can reduce the chattering phenomenon and obtained a good dynamic response. Compared to boundary layer sliding mode control [2,10] and higher order sliding mode control, the control approach can also reduce these oscillations.…”

“…C++ compiler compiles and links this program to produce an executable code. Real-Time Windows target is used as an interface between the created executable program acting as the control program and the input/output (I/O) board [15,11]. The complete set up of TRMS platform is shown in Figure 11.…”

“…The authors in [9], proposed an adaptive second-order sliding mode controller in objectives to stabilize and control the TRMS system in significant cross couplings, in [10], a model for the TRMS is used based an optimal linear quadratic regulator and a sliding mode controller. Real-time control of the vertical and horizontal positions of TRMS using a decentralized sliding mode controller is presented in [11].…”

A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators

“…Furthermore, the sliding mode control issue is studied in [33], in which the sliding mode control system design based on input-output stability and a computed torque approach for robots are studied. Furthermore, some difficulties in sliding mode control in real time are described in [34][35][36][37][38][39][40][41][42]. Details can be found in those references.…”

Design and real time implementation of nonlinear sliding surface with the application of super-twisting algorithm in nonlinear sliding mode control for twin rotor MIMO system

“…Similarly, in [14] also the coupling effect factor is taken as uncertainty. The authors in [15] claim that the control action could reduce the coupling effect. But when the 2-dof TRMS system is analyzed, it is to be ensured that coupling effect of the system is nullified.…”