Abstract
In this paper, an enhanced Integral Sliding Mode-based Linear Quadratic Gaussian (ISM-LQG) controller has been proposed and verified in real-time on a Twin Rotor multi-input-multi-output MIMO System (TRMS). A TRMS serves as a suitable laboratory-based platform to evaluate the performance of control algorithms for complex Unmanned Aerial Vehicle (UAV) systems such as rotocraft. In the proposed scheme, an ISM enhancement to an LQG has been introduced, which attempts to overcome modelling inaccuracies and uncertainties. The novelty of the proposed control law lies in hybridizing a robust control approach with an optimal control law to achieve improved performance. Experimental results on the TRMS demonstrate that the ISM-LQG strategy significantly improves the tracking performance of the TRMS pitch and hence confirm the applicability and efficiency of the proposed scheme.
Highlights
In recent years, research and development in the field of Unmanned Aerial Vehicles (UAVs) has gained significant attention in the engineering community
A Twin Rotor multi-input-multi-output MIMO System (TRMS) serves as a suitable laboratorybased platform to evaluate the performance of control algorithms for complex Unmanned Aerial Vehicle (UAV) systems such as rotocraft
Experimental results on the TRMS demonstrate that the Integral Sliding Mode-based Linear Quadratic Gaussian (ISM-Linear Quadratic Gaussian (LQG)) strategy significantly improves the tracking performance of the TRMS pitch and confirm the applicability and efficiency of the proposed scheme
Summary
Research and development in the field of Unmanned Aerial Vehicles (UAVs) has gained significant attention in the engineering community. A PID-based fuzzy sliding mode control algorithm was implemented in [15] in order to reduce the tracking errors and chattering in the control input, which is usually present in the sliding mode strategy [16] Another interesting piece of work is reported in [17], where a mathematical model was derived for the TRMS. This model was used to implement self-tuning control algorithms based on the PID controller using the Tahakashi modification of Ziegler-Nichols and the pole placement method with two degrees of freedom. This work combines robustness and ease of implementation of the LQG controller with the powerfulness of the ISMC to improve the performance of LQ-based controllers as demonstrated in [24]
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