Control of a Twin Rotor Multi-input Multi-output System (TRMS) is not a simple work. Because it has complex nonlinear dynamics, cross-coupling, uncertainties, and instability. This paper provides a practical method for control of a TRMS, named Quantitative Feedback Theory (QFT) as one of the robust approaches. Firstly, the TRMS set and modeling procedure are introduced. Secondly, the nonlinear and linear equations of electrical and mechanical parts in both vertical and horizontal planes are presented. Next, using the QFT method, a controller is designed for motion in each plane. Finally, the robustness of the control strategy is illustrated by simulations of vertical and horizontal motions, including controller and pre-filter in the presence of uncertainties. The results demonstrate that the proposed robust controller can guarantee the system stabilization, as well as pitch and yaw tracking of TRMS.
A QFT robust controller as a remedy for TRMS
05.11.2020
doi:10.3846/aviation.2020.12507
Aviation; Vol 24 No 4 (2020); 137-148 ; 1822-4180 ; 1648-7788
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
uncertainty , QFT , TRMS , cross-coupling , robust control , simulation
DDC: | 629 |
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