Open Access Open Access  Restricted Access Subscription or Fee Access

Performance Evaluation of Sliding Mode, Fuzzy Logic and PID Controllers for Twin Rotor MIMO System

Ahmed Rehawi, B. Amarendra Reddy

Abstract


In twin-rotor MIMO system, two-different rotors need to be controlled by taking the impact of one rotor on the another leading to couplings. Due to the cross-coupling effects between main rotor and tail rotor of twin-rotor MIMO system, its regulation is a challenging task. The state-variable models of the Twin-rotor MIMO system are discussed in detail. The vertical and horizontal equivalent sub-systems are obtained using the above state-variable formulation taking couplings into consideration. Due to the couplings among the sub-systems two different nonlinear control strategies are considered and comparative studies have been performed in regulating this system. Impact of parameter variation studies have been performed by considering four different arbitrary operating points. Studies have also been performed on tracking aspects of main and tail rotors with five different reference signals namely pulse, staircase, step, triangle, sinusoidal. To show the performance of designed controllers on this system, simulations are performed in MATLAB environment.


Full Text:

PDF

References


M. Twin Rotor, System Manual, Feedback Instruments, Crow-borough, UK, 2002.

M. Chen, S.S. Ge, B.V.E. How. “Robust adaptive neural network control for a class of uncertain MIMO nonlinear systems with input nonlinearities”. IEEE Transactions on Neural Networks. 2010; 21 (5): 796–812.

“A. Rahideh, M.H. Saheed, A. Safavi, J. C. Huijberts, “Model predictive control of a twin rotor MIMO system,” in Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics, p. 2831, Międzyzdroje, Poland, 2006.

K. Tanaka, H. Ohtake, H.O. Wang, “A Practical Design Approach to Stabilization of a 3DOF RC Helicopter”, IEEE Trans. on Control System Technology, Vol. 12, No. 2, March 2004, pp. 315–325.

A.R. Gopisetti, K. Anusha, B.A. Reddy and B.P. Kumar, "Performance Evaluation of Second Order Sliding Mode Control Strategies for a Coupled Tank System," 2018 International Conference on Current Trends towards Converging Technologies (ICCTCT), 2018, pp. 1–7, doi: 10.1109/ICCTCT.2018.8551080.

B.A. Reddy and P.V. Krishna, "Traditional and 2-SMC Control Strategies for Coupled Tank System," 2019 Third International Conference on Inventive Systems and Control (ICISC), 2019, pp. 682–687, doi: 10.1109/ICISC44355.2019.9036440.

D. Sandhya, B. Amarendra Reddy and K. A. Gopala Rao, "Fuzzy I-PD and fuzzy PID control of non-linear systems," 2009 International Conference on Control, Automation, Communication and Energy Conservation, 2009, pp. 1–6.

B. Kadmiry, D. Driankov, “A Fuzzy Gain-Scheduler for the Attitude Control of an Unmanned Helicopter”, IEEE Transaction on Fuzzy Systems, Vol. 12, No. 4, August 2004, pp. 502–515.

J. Xiao, J.Z. Xiao, N. Xi, R.L. Tummala, R. Mukherjee, “Fuzzy Controller for Wall-Climbing Microrobots”, IEEE Trans. On Fuzzy Systems, Vol. 12, No. 4, Aug. 2004, pp. 466–480.

B.U. Islam, N.Ahmed, D.L. Bhatti, S. khan, “Controller Design Using Fuzzy Logic for a Twin Rotor MIMO System”, IEEE International Multi Topic Conference, 2003, pp. 264–268.

M. Chen, S.S. Ge, and B. Ren, “Robust attitude control of helicopters with actuator dynamics using neural networks,” IET Control Theory & Applications, vol. 4, no. 12, pp. 2837–2854,2010.


Refbacks

  • There are currently no refbacks.


Copyright (c) 2022 Journal of Control & Instrumentation



eISSN: 2229-6972