Abstract
The paper deals with a robust control method applied to a a twin rotor multiple- input-multiple-output system (TRMS). The performance of TRMS employing a hybrid active force control (AFC) and iterative learning (IL) technique is simulated to evaluate the capability of the proposed control method in countering the harmonic excitation with reference to the pitch, yaw, angles of main rotor and tail rotor of the TRMS responses. The AFC with IL scheme was used in conjunction with the Proportional-Integral-Derivative (PID) to analyze the system’s robustness against the introduced disturbance. The mathematical modeling of TRMS was first derived and later the simulation was conducted in MATLAB/Simulink computing platform. The PID controller was used as benchmarking prior to the implementation of AFC and IL in which the tuning of the PID and IL parameters were based on a heuristic method. A comparative study will be conducted for the PID and PIDAFCIL schemes in terms of overshooting, settling time and steady state error. The results show that the PIDAFCIL control method is highly robust, produces low steady state error and exhibits fast convergence compared to its counterpart.
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