Robust finite-time sliding mode control of twin rotor MIMO system

Raj, Kaushik and Choudhary, Santosh Kumar and Muthukumar, Venkatesan (2020) Robust finite-time sliding mode control of twin rotor MIMO system. International Journal of. Modelling, Identification and Control, 35 (1). ISSN 1746-6172

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Abstract

In this paper, a robust finite-time sliding mode control (SMC) of the twin rotor MIMO system (TRMS) is discussed. This helicopter laboratory model is highly nonlinear in characteristics and coupling dynamics between main and tail rotors. The main purpose of this paper is to investigate finite-time SMC for pitch and yaw angles of TRMS, either for posture stabilisation or trajectory tracking. Moreover, these angles are used commonly to determine the hovering posture of a helicopter. The paper first briefs the dynamical model of TRMS and then it adopts a finite-time SMC technique to achieve the desired trajectory or posture stabilisation. Numerical simulation results are demonstrated and verify the effectiveness of the control technique

Item Type: Article
Uncontrolled Keywords: : robust control; TRMS; twin-rotor MIMO system; finite time control; sliding mode control; nonlinear control; helicopter system; uncertain system; dynamical model; mathematical modelling; nonlinear system.
Subjects: Engineering > MIT Manipal > Mathematics
Depositing User: MIT Library
Date Deposited: 15 Jul 2021 09:01
Last Modified: 15 Jul 2021 09:01
URI: http://eprints.manipal.edu/id/eprint/157021

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