TY - GEN
T1 - Yaw and pitch control of a twin rotor MIMO system
AU - Wijekoon, Jagannath
AU - Liyanage, Yasitha
AU - Welikala, Shirantha
AU - Samaranayake, Lilantha
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - This paper addresses the control of the standard twin rotor multi-input-multi-output (MIMO) control system problem. First, nonlinear dynamic model of the system was derived using basic laws of physics. While it was possible to linearize some of the plant nonlinearities, some of them were not, such as squared input. In the conventional approach, this problem has been solved by linearizing the possible nonlinearities, while neglecting the others, at the cost of reduced performance. Most importantly, the latter partially linearized approach demands linearized plant model at every operating point, which makes the controller implementation complicated when considering a wide dynamic operating range. In order to overcome limitations of the partially linearized approach, we derive a nonlinear controller. In that we use the tracking error dynamics to arrive at a compromise between the tracking performances of the pitch and yaw axes control and the smoothness of the actuator input. Furthermore, one of the key features of twin rotor MIMO system is its dynamic cross coupling. Therefore, in order to get rid of the cross coupling a dynamic de-coupler was used. First the plant and the controller was simulated in MATLAB/Simulink™ environment. Then, it was implemented in the hardware to control the pitch and yaw of an actual Twin Rotor MIMO system. The performance assessed using Integrated Absolute Error (IAE) and Accumulated Squared Input (ASI) metrics which represents the tracking performance and the energy input respectively. The performance matrices of the controller were compared with a PID controller tuned to the partially linearized plant model and the results show approximately more than 25% improvement both in terms of IAE and ASI.
AB - This paper addresses the control of the standard twin rotor multi-input-multi-output (MIMO) control system problem. First, nonlinear dynamic model of the system was derived using basic laws of physics. While it was possible to linearize some of the plant nonlinearities, some of them were not, such as squared input. In the conventional approach, this problem has been solved by linearizing the possible nonlinearities, while neglecting the others, at the cost of reduced performance. Most importantly, the latter partially linearized approach demands linearized plant model at every operating point, which makes the controller implementation complicated when considering a wide dynamic operating range. In order to overcome limitations of the partially linearized approach, we derive a nonlinear controller. In that we use the tracking error dynamics to arrive at a compromise between the tracking performances of the pitch and yaw axes control and the smoothness of the actuator input. Furthermore, one of the key features of twin rotor MIMO system is its dynamic cross coupling. Therefore, in order to get rid of the cross coupling a dynamic de-coupler was used. First the plant and the controller was simulated in MATLAB/Simulink™ environment. Then, it was implemented in the hardware to control the pitch and yaw of an actual Twin Rotor MIMO system. The performance assessed using Integrated Absolute Error (IAE) and Accumulated Squared Input (ASI) metrics which represents the tracking performance and the energy input respectively. The performance matrices of the controller were compared with a PID controller tuned to the partially linearized plant model and the results show approximately more than 25% improvement both in terms of IAE and ASI.
KW - Error dynamics
KW - MIMO system
KW - Nonlinear control
UR - http://www.scopus.com/inward/record.url?scp=85050589483&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050589483&partnerID=8YFLogxK
U2 - 10.1109/ICIINFS.2017.8300405
DO - 10.1109/ICIINFS.2017.8300405
M3 - Conference contribution
AN - SCOPUS:85050589483
T3 - 2017 IEEE International Conference on Industrial and Information Systems, ICIIS 2017 - Proceedings
SP - 1
EP - 6
BT - 2017 IEEE International Conference on Industrial and Information Systems, ICIIS 2017 - Proceedings
T2 - 12th IEEE International Conference on Industrial and Information Systems, ICIIS 2017
Y2 - 15 December 2017 through 16 December 2017
ER -