Mathematical model set‐point stabilizing controller design of a twin rotor MIMO system

In this paper, set-point stabilizing control of a two-rotor MIMO helicopter system is studied. The mathematical model of the twin rotor MIMO system (TRMS) is derived from Lagrange dynamics, its dynamic characteristics such as equilibrium position, propeller thrust gravity compensation are analyzed. Based on the dynamics model, a nonlinear PD controller a fuzzy PID controller are designed for real-time microcontroller set-point stabilization control. The fuzzy PID controller has a slower response time than the nonlinear PD controller, but it is better than the latter concerning overshoots steady-state errors. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

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