NDLI: An approach for robust control of a twin-rotor multiple input multiple output system

Content Provider	IEEE Xplore Digital Library
Author	Huang, L.
Copyright Year	2011
Description	Author affiliation: School of Engineering, Auckland University of Technology, 34 St Paul Street, Auckland 1010, New Zealand (Huang, L.)
Abstract	The twin-rotor multiple input multiple output system (TRMS) developed by Feedback Instruments Limited [1] consists of two axes corresponding to yaw and pitch angles commonly found in an aerial vehicle. The system can be used as a generic platform for testing MIMO controllers. This paper presents a robust control approach to stabilize the TRMS in a desired posture based on the dynamic model provided by the manufacturer. It is well known that the model is too complex in structure to be used for controller design. In the robust control approach proposed in the paper, it is approximated by a simplified model and the approximation error is compensated by a sliding mode control. In addition, the effect of the quality of the system state feedback on the controller's performance is discussed and a way to improve it is implemented. Experimental results are provided to verify the effectiveness of the approach.
Starting Page	4423
Ending Page	4428
File Size	302360
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979536
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Equations Autoregressive processes Transmission line measurements Real time systems Integrated circuit modeling Aerodynamics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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