Optimal feedback control of twin rotor MIMO system with a prescribed degree of stability

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4 Citations (Scopus)

Abstract

Purpose: The purpose of this paper is to investigate an optimal control solution with prescribed degree of stability for the position and tracking control problem of the twin rotor multiple input-multiple output (MIMO) system (TRMS). The twin rotor MIMO system is a benchmark aerodynamical laboratory model having strongly non-linear characteristics and unstable coupling dynamics which make the control of such system for either posture stabilization or trajectory tracking a challenging task. Design/methodology/approach: This paper first describes the dynamical model of twin rotor MIMO system (TRMS) and then it adopts linear-quadratic regulator (LQR)-based optimal control technique with prescribed degree of stability to achieve the desired trajectory or posture stabilization of TRMS. Findings: The simulation results show that the investigated controller has both static and dynamic performance; therefore, the stability and the quick control effect can be obtained simultaneously for the twin rotor MIMO system. Originality/value: The articles on LQR optimal controllers for TRMS can also be found in many literatures, but the prescribed degree of stability concept was not discussed in any of the paper. In this work, new LQR with the prescribed degree of stability concept is applied to provide an optimal control solution for the position and tracking control problem of TRMS.

Original languageEnglish
Pages (from-to)226-238
Number of pages13
JournalInternational Journal of Intelligent Unmanned Systems
Volume4
Issue number4
DOIs
Publication statusPublished - 2016

Fingerprint

Optimal Feedback Control
Multiple-input multiple-output (MIMO) Systems
Rotor
Feedback control
Rotors
MIMO systems
MIMO Systems
Regulator
Optimal Control
Position Control
Tracking Control
Control Problem
Stabilization
Trajectories
Controller
Controllers
Trajectory Tracking
Dynamic Performance
Dynamical Model
Design Methodology

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Automotive Engineering
  • Economics and Econometrics
  • Mechanical Engineering

Cite this

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title = "Optimal feedback control of twin rotor MIMO system with a prescribed degree of stability",
abstract = "Purpose: The purpose of this paper is to investigate an optimal control solution with prescribed degree of stability for the position and tracking control problem of the twin rotor multiple input-multiple output (MIMO) system (TRMS). The twin rotor MIMO system is a benchmark aerodynamical laboratory model having strongly non-linear characteristics and unstable coupling dynamics which make the control of such system for either posture stabilization or trajectory tracking a challenging task. Design/methodology/approach: This paper first describes the dynamical model of twin rotor MIMO system (TRMS) and then it adopts linear-quadratic regulator (LQR)-based optimal control technique with prescribed degree of stability to achieve the desired trajectory or posture stabilization of TRMS. Findings: The simulation results show that the investigated controller has both static and dynamic performance; therefore, the stability and the quick control effect can be obtained simultaneously for the twin rotor MIMO system. Originality/value: The articles on LQR optimal controllers for TRMS can also be found in many literatures, but the prescribed degree of stability concept was not discussed in any of the paper. In this work, new LQR with the prescribed degree of stability concept is applied to provide an optimal control solution for the position and tracking control problem of TRMS.",
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