Real Time Implementation of non Linear Observer-Based Fuzzy Sliding Mode Controller for a twin rotor multi-input multi-output system (TRMS)

Abstract Control of the helicopter includes nonlinearities, coupling and external perturbations. This paper presents a control strategy for TRMS (twin rotor mimo system), based on the coupling of the fuzzy logic control with the so-called sliding mode control to make its beam track accurately a reference signal, or reach desired positions in 2 DOF (degree of freedom). Only yaw and pitch angles are considered available for measurement. A non linear observer is used to estimate the unmeasured states. The proposed control scheme can be attenuating the chattering effect of the sliding mode control. Exponential stability is guaranteed by using the Lyapunov method. To show the effectiveness of the proposed observer-based robust controller is illustrated by simulation and experimental results. The real time implementation has been effectuated to the real TRMS system using MATLAB real-time tool box and Advantech PCI1711 card.

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