A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An Experimental Study

Abbas, Nadir; Liu, Xiaodong; Iqbal, Jamshed

Abstract

This article introduces a cutting-edge H∞ model-based control method for uncertain Multi Input Multi Output (MIMO) systems, specifically focusing on UAVs, through a flexible mixed-optimization framework using the Method of Inequality (MOI). The proposed approach adaptively addresses crucial challenges such as unmodeled dynamics, noise interference, and parameter variations. Central to the design is a two-step controller development process. The first step involves Nonlinear Dynamic Inversion (NDI) and system decoupling for simplification, while the second step integrates H∞ control with MOI for optimal response tuning. This strategy is distinguished by its adaptability and focus on balancing robust stability and performance, effectively managing the intricate cross-coupling dynamics in UAV systems. The effectiveness of the proposed approach is validated through simulations conducted in MATLAB/Simulink environment. Results demonstrated the efficiency of the proposed robust control approach as evidenced by reduced steady-state error, diminished overshoot, and faster system response times, thus significantly outperforming traditional control methods.

Citation

Abbas, N., Liu, X., & Iqbal, J. (2024). A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An Experimental Study. PLoS ONE, 19(3 March), Article e0300305. https://doi.org/10.1371/journal.pone.0300305

• Journal Article Type: Article
• Acceptance Date: Mar 7, 2024
• Online Publication Date: Mar 22, 2024
• Publication Date: Mar 1, 2024
• Deposit Date: Mar 2, 2024
• Publicly Available Date: Mar 25, 2024
• Journal: PLoS ONE
• Print ISSN: 1932-6203
• Electronic ISSN: 1932-6203
• Publisher: Public Library of Science
• Peer Reviewed: Peer Reviewed
• Volume: 19
• Issue: 3 March
• Article Number: e0300305
• DOI: https://doi.org/10.1371/journal.pone.0300305
• Public URL: https://hull-repository.worktribe.com/output/4568647