Extended Kalman observer based Robust Control of 1DOF TRMS

Vidya S. Rao, Akhila, Rafael M. Morales-Viviescas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The classical control techniques such as Proportional-Integral-Derivative (PID) deliver excellent quality in the system performances with healthy sensors and actuators. However when failures of sensors and actuators occur, the control over the system goes partially or completely astray. Hence, we explore a robust control technique for the standard laboratory setup of the Twin rotor MIMO System (TRMS) which is similar, up to some extent, to a helicopter in terms of the non-linearities as well as cross interactions. Control algorithms such as robust PID and Extended Kalman (EK) observer - based robust PID are simulated and the system performance is compared with and without sensor and actuator failures. The control efforts are also considered in the tuning process to make sure they fit within the motor capabilities. An observer incorporated along with robust control algorithm for smooth operation. The results show that the implemented robust control methods along with EK observer provide very good performance by offering graceful performance degradation when facing either actuator or sensor failures.

Original languageEnglish
Title of host publication2019 12th Asian Control Conference, ASCC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages521-526
Number of pages6
ISBN (Electronic)9784888983006
Publication statusPublished - 01-06-2019
Event12th Asian Control Conference, ASCC 2019 - Kitakyushu-shi, Japan
Duration: 09-06-201912-06-2019

Publication series

Name2019 12th Asian Control Conference, ASCC 2019

Conference

Conference12th Asian Control Conference, ASCC 2019
CountryJapan
CityKitakyushu-shi
Period09-06-1912-06-19

Fingerprint

MIMO Systems
Robust control
Robust Control
MIMO systems
Rotor
Observer
Actuators
Rotors
Actuator
Sensor
Directly proportional
Sensors
Derivatives
Derivative
Control Algorithm
System Performance
Actuator Failure
Robust Algorithm
Helicopter
Helicopters

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Optimization
  • Mechanical Engineering

Cite this

Rao, V. S., Akhila, & Morales-Viviescas, R. M. (2019). Extended Kalman observer based Robust Control of 1DOF TRMS. In 2019 12th Asian Control Conference, ASCC 2019 (pp. 521-526). [8764928] (2019 12th Asian Control Conference, ASCC 2019). Institute of Electrical and Electronics Engineers Inc..
Rao, Vidya S. ; Akhila ; Morales-Viviescas, Rafael M. / Extended Kalman observer based Robust Control of 1DOF TRMS. 2019 12th Asian Control Conference, ASCC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 521-526 (2019 12th Asian Control Conference, ASCC 2019).
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Rao, VS, Akhila & Morales-Viviescas, RM 2019, Extended Kalman observer based Robust Control of 1DOF TRMS. in 2019 12th Asian Control Conference, ASCC 2019., 8764928, 2019 12th Asian Control Conference, ASCC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 521-526, 12th Asian Control Conference, ASCC 2019, Kitakyushu-shi, Japan, 09-06-19.

Extended Kalman observer based Robust Control of 1DOF TRMS. / Rao, Vidya S.; Akhila; Morales-Viviescas, Rafael M.

2019 12th Asian Control Conference, ASCC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 521-526 8764928 (2019 12th Asian Control Conference, ASCC 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Rao VS, Akhila, Morales-Viviescas RM. Extended Kalman observer based Robust Control of 1DOF TRMS. In 2019 12th Asian Control Conference, ASCC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 521-526. 8764928. (2019 12th Asian Control Conference, ASCC 2019).