Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

Byron Zapata; Jaime Heredia; Julio Proaño

doi:10.1007/978-3-030-60467-7_43

Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

Byron Zapata, Jaime Heredia, Julio Proaño

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

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.

Original language	English
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
Pages	531-544
Number of pages	14
ISBN (Print)	9783030604660
DOIs	https://doi.org/10.1007/978-3-030-60467-7_43
State	Published - 2021
Event	1st International Congress on Research and Innovation, CI3 2020 - Sangolqui, Ecuador Duration: 18 Jun 2020 → 19 Jun 2020

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	1277

Conference

Conference	1st International Congress on Research and Innovation, CI3 2020
Country/Territory	Ecuador
City	Sangolqui
Period	18/06/20 → 19/06/20

Bibliographical note

Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

Keywords

Controllers
IAE
ISE
Main
Pitch
Predictive controller based on the model
Sliding mode controller
Tail
Twin rotor mimo sistem
Yaw

Access to Document

10.1007/978-3-030-60467-7_43

Cite this

Zapata, B., Heredia, J., & Proaño, J. (2021). Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. In M. Botto-Tobar, M. Zambrano Vizuete, & A. Díaz Cadena (Eds.), Innovation and Research - A Driving Force for Socio-Econo-Technological Development (pp. 531-544). (Advances in Intelligent Systems and Computing; Vol. 1277). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-60467-7_43

Zapata, Byron ; Heredia, Jaime ; Proaño, Julio. / Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. Innovation and Research - A Driving Force for Socio-Econo-Technological Development. editor / Miguel Botto-Tobar ; Marcelo Zambrano Vizuete ; Angela Díaz Cadena. Springer Science and Business Media Deutschland GmbH, 2021. pp. 531-544 (Advances in Intelligent Systems and Computing).

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title = "Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System",

abstract = "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.",

keywords = "Controllers, IAE, ISE, Main, Pitch, Predictive controller based on the model, Sliding mode controller, Tail, Twin rotor mimo sistem, Yaw",

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Zapata, B , Heredia, J & Proaño, J 2021, Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. in M Botto-Tobar, M Zambrano Vizuete & A Díaz Cadena (eds), Innovation and Research - A Driving Force for Socio-Econo-Technological Development. Advances in Intelligent Systems and Computing, vol. 1277, Springer Science and Business Media Deutschland GmbH, pp. 531-544, 1st International Congress on Research and Innovation, CI3 2020, Sangolqui, Ecuador, 18/06/20. https://doi.org/10.1007/978-3-030-60467-7_43

Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. / Zapata, Byron ; Heredia, Jaime ; Proaño, Julio.
Innovation and Research - A Driving Force for Socio-Econo-Technological Development. ed. / Miguel Botto-Tobar; Marcelo Zambrano Vizuete; Angela Díaz Cadena. Springer Science and Business Media Deutschland GmbH, 2021. p. 531-544 (Advances in Intelligent Systems and Computing; Vol. 1277).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

AU - Zapata, Byron

AU - Heredia, Jaime

AU - Proaño, Julio

PY - 2021

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N2 - 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.

AB - 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.

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A2 - Díaz Cadena, Angela

PB - Springer Science and Business Media Deutschland GmbH

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Zapata B , Heredia J , Proaño J. Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. In Botto-Tobar M, Zambrano Vizuete M, Díaz Cadena A, editors, Innovation and Research - A Driving Force for Socio-Econo-Technological Development. Springer Science and Business Media Deutschland GmbH. 2021. p. 531-544. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-60467-7_43

Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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