Robust Control of Twin Rotor MIMO System

S. Nekrouf; M. Bouhamida Bouhamida; Z. Bellahcene

doi:10.15866/ireaco.v7i1.1298

Robust Control of Twin Rotor MIMO System

S. Nekrouf^(1*), M. Bouhamida Bouhamida⁽²⁾, Z. Bellahcene⁽³⁾

^(*) Corresponding author

Authors' affiliations

DOI: https://doi.org/10.15866/ireaco.v7i1.1298

Abstract

This paper deals with robust control for a nonlinear multi-input multi-output system called the twin rotor MIMO system (TRMS). The mathematical modeling of helicopter model is simulated using MATLAB/Simulink for controlling the system in elevation and azimut angles using an H∞ robust control with a new method of optimization based on a genetic algorithm (GA) technique. The basic idea is to make handle by the genetic algorithm to optimize the weight functions. Obtained simulation results for different input signals are encouraging and the method is more effective than the standard techniques.
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords

Genetic Algorithm; H∞; Nonlinear Systems; Robust Control; System Coupled

Full Text:

PDF

References

Apkarian P, C.Champetier and J.F.Magni. Design of a helicopter output feedback control law using modal and structured-robustness techniques. Int. J. Control, 1989, Vol.50, No.4, 1195-1215.

Mammar S. Robust multivariable control by the LQG/LTR and H∞ Application to a helicopter. Thesis. University of Southern Paris centers of Orsay 1990.

McLean D and H Matsuda. Helicopter station keeping: comparing LQR, fuzzy-logic and neural net controllers. Engineering Application of Artificial Intelligence 11(1998) 411-418.

Luo C.C, R.F Liu, C.D Yang and Y.H Chang. Helicopter H∞ control design with robust flying quality. Aerospace Science and Technology 7 (2003) 159–169.

Smerlas A.J, D.J. Walker, I Postlethwaite, M.E. Strange, J. Howitt and A.W. Gubbels. Evaluating H∞ controllers on the NRC Bell 205 fly-by-wire helicopter. Control Engineering Practice 9(2001).

Takahashi M.D. H∞ Helicopter Flight Control Law Design With and Without Rotor State Feedback. Journal Of Guidance, Control, And Dynamics. Vol.17, No. 6, 1994.

M. O. Tokhi, S. M. Ahmad et A. J. Chipperfield,’’ Dynamic modelling and Optimal Control of a Twin Rotor MIMO System,’’Proc. IEEE National Aerospace and Electronics Conference (NAECON2000), Dayton, Ohio, USA, 10-12 Oct. pp 391-398, 2000.

Edgar N. Sanchez a, Hector M. Becerra a,, Carlos M. Velez Combining fuzzy, PID and regulation control for an autonomous mini-helicopter Information Sciences 177 (2007) 1999–2022

Postlethwaite I, E.Prempain, E.Turkoglu, M.C. Turner, K Ellis and A.W. Gubbels. Design and flight of various H∞ controllers for the Bell 205 helicopter Control Engineering practice. Vol 13, No 3(2005) 383-398.

Jih-Gau Juang , Ren-Wei Lin, Wen-Kai Li “Comparison of classical control and intelligent control for a MIMO system” Applied Mathematics and Computation 205 (2008)

Chen, B.M., Robust and H∞ Control, Springer. (2000),

C. Houck, J. Joines, and M. Kay, A Genetic Algorithm for Function Optimization: A MATLAB Implementation by NCSU-IE TR 95-09, 1995..

C.H. Wang, T.C. Lin, T.T. Lee, H.L. Liu Adaptive Hybrid Intelligent Control for uncertain Non-linear Dynamical Systems,’’ IEEE Transactions on systems Man and Cybernetics, vol 32, no5, pp 583-597, 2002.

E. Alfaro-Cid, E. W. Mc Gookin et D. J. Murray-Smith Optimisation of the weighting functions of an H∞ controller using genetic algorithms and structured genetic algorithms. International Journal of Systems Science, 39.4.335–347, 2008.

J.P. Su, L.T. Chi, M.C. Hung, Robust Control of a Class of Non-linear System and Its Application to a Twin Rotor MIMO System,’’ IEEE ICIT’ 02 Industrial technology, pp 1272-1277,2002.

Jih.Gau Juang, Ren-Wei Lin, Wen-Kai Liu Comparison of classical control and intelligent control for a MIMO system Applied Mathematics and Computation 205 (2008) 778–791

Feedback Instruments Ltd., Twin Rotor MIMO System Advanced Technique Manual, Crowborough, U.K., 33-007-4M5, 1997.

U.Badar, A. Nisar, L. Daud, K. Shahid, L. Ghulam, Controller design using fuzzy logic for A twin Rotor MIMO system Proceedings IEEE INMIC, pp.264-268 2003.

B.-S. Chen, Y.-M. Cheng and C.-H. Lee A Genetic Approach to Mixed H2/H∞ Optimal PID Control IEEE Trans. on Control Systems, pp. 51-60, 1995

D.-W. Gu, P. Hr. Petkov and M. M. Konstantinov Robust Control Design with MATLAB” springer November 2005

D. McFarlane and K. Glover. A loop shaping design procedure using H∞ synthesis .IEEE Transactions on Automatic Control, AC-37:749–769, 1992.

Andrey Popov Genetic Algorithms for Optimization User Manual Hamburg 2005

J. C. Doyle K. Zhou, Essential of Robust Control Prentice Hall, 1998.

AP.S. Ramalakshmil, P.S. Manoharan Non-linear Modeling and PID Control of Twin Rotor MIMO System IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT) 2012

Hypiusová, M., Kajan, S., Robust controller design using edge theorem and genetic algorithm, (2013) International Review of Automatic Control (IREACO), 6 (2), pp. 194-200.

Hadi, M.S., Mat Darus, I.Z., Intelligence swarm model optimization of flexible plate structure system, (2013) International Review of Automatic Control (IREACO), 6 (3), pp. 322-331.

Mostefai, L., Denai, M., Tabti, K., Meguenni, K.Z., Tahar, M., LMI design of a direct yaw moment robust controller based on adaptive body slip angle observer for electric vehicles, (2013) International Review of Automatic Control (IREACO), 6 (6), pp. 745-750.

Refbacks

There are currently no refbacks.

Username
Password
Remember me