Adaptive control of Twin ROTOR MIMO system

Author

Chalupa, Petr ; Prikryl, Jan ; Novak, Jakub

Author_Institution

Fac. of Appl. Inf., Tomas Bata Univ. in Zlin, Zlin, Czech Republic

fYear

2015

fDate

9-12 June 2015

Firstpage

314

Lastpage

319

Abstract

The paper deals with modeling and adaptive control of the Twin Rotor MIMO System - a real-time laboratory plant by Feedback Ltd. The plant consists of two propellers, which can be controlled by external controller, and resembles a helicopter. An initial mathematical model is derived using first principles modeling and further improved to correspond more with behavior of the real-time plant. The mathematical model is transferred to Simulink environment and is used for design of an adaptive controller. Several self-tuning controller were tested and closed loop behavior of the nonlinear Simulink model and of the real-time plant is compared.

Keywords

MIMO systems; adaptive control; closed loop systems; control system synthesis; nonlinear control systems; rotors (mechanical); Feedback Ltd; Twin Rotor MIMO system; adaptive control; closed loop behavior; first principles modeling; helicopter; nonlinear Simulink model; self-tuning controller; Adaptation models; Azimuth; MIMO; Mathematical model; Propellers; Real-time systems; Rotors; ARX model; First principle modelling; adaptive control; self-tuning control;

fLanguage

English

Publisher

ieee

Conference_Titel

Process Control (PC), 2015 20th International Conference on

Conference_Location

Strbske Pleso

Type

conf

DOI

10.1109/PC.2015.7169982

Filename

7169982