Adaptive-optimal MIMO nonsingular terminal sliding mode control of twin-rotor helicopter system: meta-heuristics and super-twisting based control approach

Rezoug, Amar; Messah, Ayoub; Messaoud, Walid Ahmed; Baizid, Khelifa; Iqbal, Jamshed

doi:10.1007/s40430-024-04714-3

Adaptive-optimal MIMO nonsingular terminal sliding mode control of twin-rotor helicopter system: meta-heuristics and super-twisting based control approach

Rezoug, Amar; Messah, Ayoub; Messaoud, Walid Ahmed; Baizid, Khelifa; Iqbal, Jamshed

Authors

Amar Rezoug

Ayoub Messah

Walid Ahmed Messaoud

Khelifa Baizid

Dr Jamshed Iqbal J.Iqbal@hull.ac.uk
Senior Lecturer

Abstract

This research proposes a novel hybrid control technique based on nonsingular terminal sliding mode (NTSM) control, metaheuristic optimization algorithms and adaptive super-twisting based on Lyapunov stability analysis for controlling Quanser aero simulator helicopter. Firstly, the NTSM and NTSM super twisting (NTSTW) controllers are designed followed by optimization of the designed controllers using grey wolf optimizer (GWO), whale optimization algorithm (WOA), salp swarm algorithm (SSA) and ant lion optimizer (ALO). Qualitative and quantitative comparisons among the results obtained from optimized controllers are then thoroughly investigated. Simulation results confirmed that the optimized NTSTW (O-NTSTW) based on GWO demonstrated overperformance compared with other controllers. In order to further improve its performance while ensuring robustness, this controller is hybridized with an adaptive Lyapunov super-twisting algorithm resulting in a novel controller named as adaptive O-NTSTW (AO-NTSTW). Visualization using ROS-Gazebo is done while validating AO-NTSTW and O-NTSTW. Simulation results demonstrated the effectiveness and the superiority of AO-NTSTW compared to O-NTSTW.

Citation

Rezoug, A., Messah, A., Messaoud, W. A., Baizid, K., & Iqbal, J. (2024). Adaptive-optimal MIMO nonsingular terminal sliding mode control of twin-rotor helicopter system: meta-heuristics and super-twisting based control approach. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 46(3), Article 162. https://doi.org/10.1007/s40430-024-04714-3

Journal Article Type	Article
Acceptance Date	Jan 15, 2024
Online Publication Date	Feb 28, 2024
Publication Date	Mar 1, 2024
Deposit Date	Feb 7, 2024
Publicly Available Date	Mar 1, 2025
Journal	Journal of the Brazilian Society of Mechanical Sciences and Engineering
Print ISSN	1678-5878
Electronic ISSN	1806-3691
Publisher	Springer
Peer Reviewed	Peer Reviewed
Volume	46
Issue	3
Article Number	162
DOI	https://doi.org/10.1007/s40430-024-04714-3
Public URL	https://hull-repository.worktribe.com/output/4538172