An Approach for R obust Control of a Twin-rotor M ultiple Input Multiple Output System
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 controllers performance is discussed and a way to improve it is implemented. Experimental results are provided to verify the effectiveness of the approach.
L. Huang
School of Engineering,Auckland University of Technology,34 St Paul Street,Auckland 1010,New Zealand
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4423-4428
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）