Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

Abstract

Modeling of complex air vehicles is a challenging task due to high nonlinear behavior and significant coupling effect between rotors. Twin rotor multi-input multioutput system (TRMS) is a laboratory setup designed for control experiments, which resembles a helicopter with unstable, nonlinear, and coupled dynamics. This paper focuses on the design and analysis of sliding mode control (SMC) and backstepping controller for pitch and yaw angle control of main and tail rotor of the TRMS under parametric uncertainty. The proposed control strategy with SMC and backstepping achieves all mentioned limitations of TRMS. Result analysis of SMC and backstepping control schemes elucidates that backstepping provides efficient behavior with the parametric uncertainty for twin rotor system. Chattering and oscillating behaviors of SMC are removed with the backstepping control scheme considering the pitch and yaw angle for TRMS.