Abstract
This paper investigates the trajectory tracking problem for a Multi-Input Multi-Output (MIMO) Twin Rotor Aerodynamic System (TRAS) using a hybrid architecture based on an H∞∞∞∞ controller and Iterative Learning Control (ILC). TRAS is a fast, nonlinear coupled system and therefore it is a challenging task to design a control system that ensures the tracking for fast changing trajectories. The controllers proposed in the literature for the TRAS through linear approaches tend to have a large control effort, while the ones designed using the nonlinear approaches track only for smooth input trajectories. Both issues are important from control point of view. In this paper, these issues are addressed by designing a feedback H∞∞∞∞ control that stabilizes the system and a feedforward ILC which reduces the control effort. The H∞∞∞∞ controller achieves the tracking for input trajectories with sharp edges, but the control effort required for tracking is large. With the proposed hybrid approach, tracking is achieved by the H∞∞∞∞ controller whereas the required control effort is reduced in each subsequent iteration by ILC. After a few iterations, accurate tracking at a minimized control effort is achieved. The simulations have been performed using MATLAB software and the controller designed through the proposed approach has been validated on nonlinear model of the system. The results of the proposed technique, compared with the flatness-based and back-stepping control strategies, show that the proposed controller ensures accurate tracking at the reduced control effort.
Highlights
The Unmanned Arial Vehicles (UAV) like fixed wing crafts, quadcopters, and helicopters have found applications in several domains [1]
Motivated by the issue mentioned above, a hybrid design approach based on Iterative Learning Control (ILC) has been proposed in this paper to address both the control effort and trajectory tracking problems for Twin Rotor Aerodynamic System (TRAS)
The use of Proportional Integral Derivative (PID) controller in a wide range of applications and its effective results motivate to update the ILC law using PID control law. This is known as the PID-type ILC and its mathematical representation is given in the Equation (11) [32]: u i, k 1 u i, k k†e i, k k...e i, k kt∫ e i, k dt here k†, k..., kt represent the proportional, derivative and integral gains respectively
Summary
The Unmanned Arial Vehicles (UAV) like fixed wing crafts, quadcopters, and helicopters have found applications in several domains [1]. In [12], a Model Predictive Controller (MPC) is designed for trajectory tracking of TRAS. In [23], the disturbance observer based integral BSC is proposed for the trajectory tracking problem of TRAS. Motivated by the issue mentioned above, a hybrid design approach based on ILC has been proposed in this paper to address both the control effort and trajectory tracking problems for TRAS. (1) Improvement of already proposed hybrid ILC design approach with H controller in the inner loop for system stabilization, leading to the lesser number of iterations required to achieve the tracking compared to that proposed in [27]. ILC based hybrid control approach is proposed using the above model
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