Pitch orientation control of twin-rotor MIMO system using sliding mode controller with state varying gains

Abstract

This work presents the controlling of the pitch orientation of a twin-rotor multi-input multi-output system (TRMS) using the sliding mode control (SMC) technique with variable gains. In this, the SMC is designed using variable gains where the pitch orientation error of the vertical dynamics of the TRMS system is intended to render the control law. The magnitude of the variable gains is related to the absolute value of the tracking error. Further, this technique minimised the chattering effect by ensuring the robustness property of the sliding modes. This design establishes a relationship between first and higher-order SMCs. The proposed controller is adapted from the twisting algorithm (TA) and conventional SMC. The control algorithm does not overestimate disturbances, resulting in a large reduction in control energy. Finally, a Lyapunov stability analysis is devised to demonstrate asymptotic stability. Simulations demonstrate the pitch orientation control and robustness of the proposed control scheme.