Experimental validation of adaptive RBFNN global fast dynamic terminal sliding mode control for twin rotor MIMO system against wind effects

Abstract In this paper, an Adaptive RBFNN global fast dynamic terminal sliding mode control (ARBFNNGFDTSMC) is designed to situate the main and tail angles of a twin rotor MIMO system (TRMS). The control objective is to stabilize the TRMS in a reference position or follow a predefined trajectory. An adaptive RBFNN has been used in order to identified unknown nonlinear dynamics of the TRMS. In addition, another adaptive control expressions has been added to diminish the wind gusts, external disturbance effects, and to compensate the estimation errors of the adaptive RBFNN. Moreover, the stability analysis in closed-loop is assured by using Lyapunov method. The developed controller is applied to the TRMS with cross coupling between tail and main subsystems without decoupling procedure. Experimental results prove the good control tracking performance in presence of wind gusts and external disturbances.

[1]  Ahsan Ali,et al.  Fixed-Structure $${H_{\infty}}$$H∞ Controller Design for Two-Rotor Aerodynamical System (TRAS) , 2016 .

[2]  Djamel Boukhetala,et al.  Tuning of decentralized fuzzy logic sliding mode controller using PSO algorithm for nonlinear Twin Rotor Mimo System , 2017, 2017 6th International Conference on Systems and Control (ICSC).

[3]  Sushant N. Pawar,et al.  A review of PID control, tuning methods and applications , 2020, International Journal of Dynamics and Control.

[4]  Moussa Labbadi,et al.  Robust adaptive nonsingular fast terminal sliding-mode tracking control for an uncertain quadrotor UAV subjected to disturbances. , 2019, ISA transactions.

[5]  Sudarshan K. Valluru,et al.  Design and Real Time implementation of fmincon, MOGA tuned IO-PID and FO-PIλDμ Controllers for Stabilization of TRMS , 2020 .

[6]  Radu-Codrut David,et al.  Second Order Intelligent Proportional-Integral Fuzzy Control of Twin Rotor Aerodynamic Systems , 2018, ITQM.

[7]  Rafael M. Morales-Viviescas,et al.  Complete dynamic model of the Twin Rotor MIMO System (TRMS) with experimental validation , 2017 .

[8]  Shirantha Welikala,et al.  Yaw and pitch control of a twin rotor MIMO system , 2017, 2017 IEEE International Conference on Industrial and Information Systems (ICIIS).

[9]  Ravi Samikannu,et al.  Modelling of the Twin Rotor MIMO System (TRMS) Using the First Principles Approach , 2020, 2020 International Conference on Computer Communication and Informatics (ICCCI).

[10]  T. L. T. Mohamed,et al.  Review and current study on new approach using PID Active Force Control (PIDAFC) of twin rotor multi input multi output system (TRMS) , 2012, 2012 IEEE Symposium on Humanities, Science and Engineering Research.

[11]  R Chithra,et al.  Robust Optimal Sliding Mode Control of Twin Rotor MIMO System , 2016 .

[12]  Subrat Kumar Swain,et al.  Fractional Order Sliding Mode Controller for the Twin Rotor MIMO System , 2019, 2019 International Conference on Intelligent Computing and Control Systems (ICCS).

[13]  Mustapha Hamerlain,et al.  Observer-based Adaptive Fuzzy Backstepping Tracking Control of Quadrotor Unmanned Aerial Vehicle Powered by Li-ion Battery , 2016, J. Intell. Robotic Syst..

[14]  Susy Thomas,et al.  Practically Implementable Model Predictive Controller for a Twin Rotor Multi-Input Multi-Output System , 2017 .

[15]  Mutaz Ryalat,et al.  Linearized Modelling and Control for a Twin Rotor System , 2019, Automatic Control and Computer Sciences.

[16]  Chitralekha Mahanta,et al.  Adaptive second-order sliding mode controller for a twin rotor multi-input-multi-output system , 2012 .

[17]  Piyali Das,et al.  Optimized methods for the pre-eminent performance of LQR control applied in a MIMO system , 2019 .

[18]  Joel Hernandez Hernandez,et al.  Robust nonsingular fast terminal sliding-mode control for Sit-to-Stand task using a mobile lower limb exoskeleton , 2020 .

[19]  Jih-Gau Juang,et al.  A hybrid intelligent controller for a twin rotor MIMO system and its hardware implementation. , 2011, ISA transactions.

[20]  Parthish Kumar Paul,et al.  H2 Vs H∞ control of TRMS via output error optimization augmenting sensor and control singularities , 2020 .

[21]  Jing-Jing Xiong,et al.  Global fast dynamic terminal sliding mode control for a quadrotor UAV. , 2017, ISA transactions.

[22]  Samir Zeghlache,et al.  Output Feedback Linearization Based Controller for a Helicopter-like Twin Rotor MIMO System , 2015, J. Intell. Robotic Syst..

[23]  Mohamed Chemachema,et al.  Model reference adaptive control for twin rotor multiple-input and multiple-output system via minimal controller synthesis , 2014, J. Syst. Control. Eng..

[24]  Abdulrahman H. Bajodah,et al.  Real time adaptive nonlinear model inversion control of a twin rotor MIMO system using neural networks , 2012, Eng. Appl. Artif. Intell..

[25]  Bhanu Pratap,et al.  Real-Time Implementation of Neuro Adaptive Observer-Based Robust Backstepping Controller for Twin Rotor Control System , 2014 .

[26]  Chin-Wang Tao,et al.  A Novel Fuzzy-Sliding and Fuzzy-Integral-Sliding Controller for the Twin-Rotor Multi-Input–Multi-Output System , 2010, IEEE Transactions on Fuzzy Systems.

[27]  Jih-Gau Juang,et al.  PID Control Using Presearched Genetic Algorithms for a MIMO System , 2008, IEEE Trans. Syst. Man Cybern. Part C.

[28]  Abdesselem Boulkroune,et al.  Adaptive fuzzy vector control for a doubly-fed induction motor , 2015, Neurocomputing.

[29]  Jeevamma Jacob,et al.  Direct Adaptive Neural Control Design for a Class of Nonlinear Multi Input Multi Output Systems , 2019, IEEE Access.

[30]  Nguyen Van Chi.  Adaptive feedback linearization control for twin rotor multiple-input multiple-output system , 2017 .