Abstract
Control of a Twin Rotor Multi-input Multi-output System (TRMS) is not a simple work. Because it has complex nonlinear dynamics, cross-coupling, uncertainties, and instability. This paper provides a practical method for control of a TRMS, named Quantitative Feedback Theory (QFT) as one of the robust approaches. Firstly, the TRMS set and modeling procedure are introduced. Secondly, the nonlinear and linear equations of electrical and mechanical parts in both vertical and horizontal planes are presented. Next, using the QFT method, a controller is designed for motion in each plane. Finally, the robustness of the control strategy is illustrated by simulations of vertical and horizontal motions, including controller and pre-filter in the presence of uncertainties. The results demonstrate that the proposed robust controller can guarantee the system stabilization, as well as pitch and yaw tracking of TRMS.
Highlights
Over the years, many control techniques for designing the flight control system of manned and unmanned helicopters have been extensively studied (Oktay et al, 2016; Oktay & Sal, 2015, 2016). Vilchis et al (2003), stated that the main difficulties for designing stable feedback controllers for helicopters stem from their nonlinearities and couplings
This paper provides a practical method for control of a Twin Rotor Multi-input Multi-output System (TRMS), named Quantitative Feedback Theory (QFT) as one of the robust approaches
The results demonstrate that the proposed robust controller can guarantee the system stabilization, as well as pitch and yaw tracking of TRMS
Summary
Mostafa HONARI-TORSHIZI 1*, Hossein RAHMANI 2, Hossein MOEINKHAH 3, Mohammad Reza GHARIB 4*, Javad JAHANPOUR 5.
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