Elevation and hovering control of TRMS via H∞ optimization technique

This paper proposes a plausible solution to the robust control problem of stabilizing the twin rotor multi input multi output system (TRMS) using H∞ control techniques. The proposed H∞ control technique optimizes the output error of TRMS compared with a reference plant. Computer simulations yield marked improvements in the results of this work over former results published. The controlled plant exhibits stable responses in hovering positions at the set pitch and yaw angles. Control and sensor singularities are corrected at design stage. The optimization technique proposed in this paper can be referred in controlling the autonomous rotorcrafts of this class.

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