Observer based Control of 2DOF TRMS

Akhila, . and Rao, Vidya S (2019) Observer based Control of 2DOF TRMS. In: Alliance International Conference on Artificial Intelligence and Machine Learning, 26/04/2019, Alliance College of Engineering and Design.

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Abstract

The classical control techniques such as Proportional-Integral-Derivative (PID) deliver quality 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, advanced control technique is applied for the standard laboratory setup of Twin rotor MIMO System (TRMS) which is similar to helicopter in terms of non-linearities as well as cross interactions. Control algorithms such as state feedback plus PID and Extended Kalman observer based state feedback plus PID control are simulated and the system performances are compared with and without sensor and actuator failures. The proper working of the controller also has to be ensured so as to have limited burden on its effort to control the system. Hence an observer has to be incorporated along with state feedback plus PID control algorithm for smooth operation of controller. The results show that the proposed algorithm provides ace performance with graceful performance degradation when facing failures in sensors and actuators

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: TRMS, state feedback plus PID, sensor and actuator failure, observer.
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 04 Jul 2019 09:22
Last Modified: 04 Jul 2019 09:22
URI: http://eprints.manipal.edu/id/eprint/154110

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