The Twin Rotor Mimo System (TRMS) consists of two rotors namely tail rotor (∅) and main rotor (ψ). The main objective of this article is improving the stability of the TRMS system in rotation and elevation. To achieve that, a predictive controller based on the model (MPC), and a sliding mode controller (SMC) were implemented. The analytical modelling is based on the study of the system dynamics to obtain a linear model. Additionally, concepts of control involved in the design of the MPC, PID and SMC controllers are considered. The controllers were evaluated on simulation and on the real TRMS system by performing several tests. In these tests the metrics considered were the response of the system and the control signal. The results show a comparison of settling times, rise times, integral of the absolute error (IAE) and integral of the squared error (ISE). We found that SMC controller have the best performance in comparison with PID and MPC controllers.
|Title of host publication||Innovation and Research - A Driving Force for Socio-Econo-Technological Development|
|Editors||Miguel Botto-Tobar, Marcelo Zambrano Vizuete, Angela Díaz Cadena|
|Publisher||Springer Science and Business Media Deutschland GmbH|
|Number of pages||14|
|State||Published - 2021|
|Event||1st International Congress on Research and Innovation, CI3 2020 - Sangolqui, Ecuador|
Duration: 18 Jun 2020 → 19 Jun 2020
|Name||Advances in Intelligent Systems and Computing|
|Conference||1st International Congress on Research and Innovation, CI3 2020|
|Period||18/06/20 → 19/06/20|
Bibliographical notePublisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.
- Predictive controller based on the model
- Sliding mode controller
- Twin rotor mimo sistem