State observer based robust feedback linearization controller for twin rotor MIMO system

Abstract

This paper presents, a state observer based controller for the twin rotor multiple-input-multiple-output (MIMO) system. The twin rotor MIMO system (TRMS) belongs to a class of nonlinear system having high coupling effect between two propellers, unstable and nonlinear dynamics. A state observer is designed using coordinate change which transforms the TRMS into an approximate normal form. Based on the proposed observer, a feedback linearization controller is designed for TRMS. The control effort is further compensated using a compensator based on Chebyshev neural network (CNN) to ensure good tracking performance and bounded control effort. Finally simulation results are presented to illustrate the effectiveness of the proposed observer based controller.Keywords-Approximate normal form, Chebyshev neural network, nonlinear system, state observer, twin rotor MIMO system.978-1-4673-4505-7/12/$31.00 ©2012 IEEE

Optimal feedback control of twin rotor MIMO system with a prescribed degree of stability

“…If u 1 and u 2 are the input voltages for the DC motor of twin rotors and τ 1 and τ 2 are the respective output torques for the main and tail rotors, then the motor with mechanical characteristics and electrical control circuit is approximated by following the differential equations (Feedback, 2010; Pratap and Purwar, 2012; Ramalakshmi and Manoharan, 2012).…”

“…The following TRMS dynamic model (Feedback, 2010; Pratap and Purwar, 2012; Ramalakshmi and Manoharan, 2012; Huang, 2011) for the mechanical unit can be derived.…”

“…The TRMS resembles a non-linear system with heavy cross-coupling effects (Feedback, 2010). Hence, controlling the TRMS for either posture stabilization or trajectory tracking is a challenging task and has gained a lot of research interest (Pratap and Purwar, 2012; Wen and Li, 2011; Tao et al , 2010a). The TRMS developed by Feedback Instruments Limited (see Figure 1) has been a popular experimental platform for the development of controller algorithms (Feedback, 2010; Meena and Janardhanan, 2011; Huang, 2011; Mondal and Mahanta, 2012).…”

“…Several research works have been explored to develop control synthesis frameworks for TRMS. Some of them can already be found in the literature (see Feedback, 2010; Pratap and Purwar, 2012; Wen and Li, 2011; Tao et al , 2010a, b; Ramalakshmi and Manoharan, 2012; Chalupa et al , 2015; Rahideh et al , 2008; Shaik et al , 2011; Pratap et al , 2012; Gadewadikar et al , 2009; Usman et al , 2014; Juang et al , 2008a, b, 2011; Meena and Janardhanan, 2011; Huang, 2011; Mondal and Mahanta, 2012; Butt and Aschemann, 2015; Rahideh et al , 2012; Yang et al , 2016; Butt et al , 2015; Wen and Lu, 2008; Pradhan and Ghosh, 2013; Nasir and Tokhi, 2015). A linear-quadratic regulation (LQR) optimal controllers were also designed in Tao et al (2010b) and Pratap et al (2012) but the prescribed degree of stability concept was not discussed in any of the paper.…”

Model-Free Output Feedback Controller Design for Twin Rotor Systems

“…Most of these controllers utilized the signum function in their designs to compensate for uncertainties ( [1] [15], [16]). Only a few results considered output feedback (i.e., only angular position information being available) ([11], [17], [18], [19]). The lack of accurate dynamic models and angular velocity measurements constituted the main motivation of this work.…”