Abstract
In this paper, an Adaptive RBFNN global fast dynamic terminal sliding mode control (ARBFNNGFDTSMC) is designed to situate the main and tail angles of a twin rotor MIMO system (TRMS). The control objective is to stabilize the TRMS in a reference position or follow a predefined trajectory. An adaptive RBFNN has been used in order to identified unknown nonlinear dynamics of the TRMS. In addition, another adaptive control expressions has been added to diminish the wind gusts, external disturbance effects, and to compensate the estimation errors of the adaptive RBFNN. Moreover, the stability analysis in closed-loop is assured by using Lyapunov method. The developed controller is applied to the TRMS with cross coupling between tail and main subsystems without decoupling procedure. Experimental results prove the good control tracking performance in presence of wind gusts and external disturbances.
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