Optimal feedback control of twin rotor MIMO system with a prescribed degree of stability
International Journal of Intelligent Unmanned Systems
ISSN: 2049-6427
Article publication date: 10 October 2016
Abstract
Purpose
The purpose of this paper is to investigate an optimal control solution with prescribed degree of stability for the position and tracking control problem of the twin rotor multiple input-multiple output (MIMO) system (TRMS). The twin rotor MIMO system is a benchmark aerodynamical laboratory model having strongly non-linear characteristics and unstable coupling dynamics which make the control of such system for either posture stabilization or trajectory tracking a challenging task.
Design/methodology/approach
This paper first describes the dynamical model of twin rotor MIMO system (TRMS) and then it adopts linear-quadratic regulator (LQR)-based optimal control technique with prescribed degree of stability to achieve the desired trajectory or posture stabilization of TRMS.
Findings
The simulation results show that the investigated controller has both static and dynamic performance; therefore, the stability and the quick control effect can be obtained simultaneously for the twin rotor MIMO system.
Originality/value
The articles on LQR optimal controllers for TRMS can also be found in many literatures, but the prescribed degree of stability concept was not discussed in any of the paper. In this work, new LQR with the prescribed degree of stability concept is applied to provide an optimal control solution for the position and tracking control problem of TRMS.
Keywords
Citation
Choudhary, S.K. (2016), "Optimal feedback control of twin rotor MIMO system with a prescribed degree of stability", International Journal of Intelligent Unmanned Systems, Vol. 4 No. 4, pp. 226-238. https://doi.org/10.1108/IJIUS-07-2016-0005
Publisher
:Emerald Group Publishing Limited
Copyright © 2016, Emerald Group Publishing Limited