Design of Robust H-infinity Flight Control for MIMO Model of Bi-copter Against Uncertainty

Prakosa, Jalu A.; Kurniawan, Edi; Purwowibowo,; Astuti, Chifayah

doi:10.1109/isesd56103.2022.9980774

Cited by 1 publication

(1 citation statement)

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“…Various control methods have been proposed for the control of MIMO systems, such as decentralized control, adaptive control, and robust control. However, these methods have limitations, such as complexity and lack of generality [1][2][3][4][5][6][7][8]. Universal approximators, such as artificial neural networks and fuzzy logic systems, are extensively used for MIMO systems control by approximating the underlying nonlinear dynamics and relationships between inputs and outputs [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Modeling of Mimo Systems With Universal Controller

Mohammed A. Ali,

Vodichev

2023

ELTECS

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Abstract. The control of multi-input multi-output (MIMO) systems poses significant challenges due to the intricate dynamics and interactions between multiple input and output channels. This paper presents a simulation study on MIMO systems control using the universal control technique. The proposed method offers a versatile framework for regulating MIMO systems with varying dynamics, utilizing a single control algorithm. The underlying concept of the universal control law is to devise a set of principles or strategies that can be universally applied to any system, regardless of its specific characteristics or parameters. To achieve this, the control algorithm is designed based on the derivatives balance of the system's input-output dynamics, granting the controller adaptability to both single-input single-output (SISO) and MIMO systems. Numerical examples are provided to demonstrate the effectiveness of the proposed method, involving a MIMO system comprising four inputs in a two-coupled distillation column process and two inputs in a twin rotor setup. The challenges associated with distillation column control, such as nonlinearity, disturbances, and interaction between multiple inputs and outputs, are considered. Twin rotor systems, consisting of two interconnected rotors, pose unique control difficulties, primarily arising from the coupling between the two rotors and their nonlinear behavior. The simulation results show the capability of the proposed universal controller to achieve precise and robust control over the MIMO system. Keywords: MIMO, Control, Simulation, Distillation Column Process, Twin Rotor.

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