Model Parameter Identification and Nonlinear Control of a Twin Rotor MIMO System - TRMS

Abstract This paper presents a straightforward method for controlling a helicopter TRMS system based on a derived model of the system. The first part of the work consists on the development of a reliable model of the considered system. The parameters of such model are identified based on least squares parametric identification method. Then a nonlinear Backsteeping control is developed. The control signal depends on all the states for feedback, to solve the problem of unavailable states, a sliding mode differentiator is used to estimate the needed signals. The control method is then tested on a TRMS system of Feedback, where experimental results show the effectiveness of the method based on the identified model.