Modeling and Robust Control of Twin Rotor MIMO System

Shah, Syed Humayoon; Khan, Said G.; Iqbal, Jamshed; Alharthi, Mathkar

Abstract

Recently, unmanned aerial vehicles (UAVs) have witnessed immense popularity in various fields, ranging from surveillance, rescue, and fire fighting to other more sophisticated military and commercial applications. However, due to their highly nonlinear nature and dynamic operational environment, the control of UAVs is still a challenging task. Linear Quadratic-Gaussian Regulator (LQG), is an optimal control technique, which has been very popular for UAVs control. However, for robust performance, an accurate dynamic model of a system is required. In order, to overcome this limitation, the present work couples an integral sliding mode controller with the LQG controller to deal with the modeling inaccuracies. Experimental results of pitch control of the laboratory-based twin rotor MIMO system (TRMS), validate the performance of ISMC-LQG controller.

Citation

Shah, S. H., Khan, S. G., Iqbal, J., & Alharthi, M. (2019, October). Modeling and Robust Control of Twin Rotor MIMO System. Presented at 2019 International Conference on Robotics and Automation in Industry (ICRAI)

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2019 International Conference on Robotics and Automation in Industry (ICRAI)
• Start Date: Oct 21, 2019
• Acceptance Date: Sep 2, 2019
• Publication Date: Oct 1, 2019
• Deposit Date: Sep 14, 2021
• Publicly Available Date: Dec 3, 2021
• Publisher: Institute of Electrical and Electronics Engineers
• Book Title: International Conference on Robotics and Automation in Industry (ICRAI)
• ISBN: 9781728130583
• DOI: https://doi.org/10.1109/ICRAI47710.2019.8967355
• Public URL: https://hull-repository.worktribe.com/output/3796905
• Publisher URL: https://ieeexplore.ieee.org/xpl/conhome/8961333/proceeding