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

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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 languageEnglish
Title of host publicationInnovation and Research - A Driving Force for Socio-Econo-Technological Development
EditorsMiguel Botto-Tobar, Marcelo Zambrano Vizuete, Angela Díaz Cadena
PublisherSpringer Science and Business Media Deutschland GmbH
Pages531-544
Number of pages14
ISBN (Print)9783030604660
DOIs
StatePublished - 2021
Event1st International Congress on Research and Innovation, CI3 2020 - Sangolqui, Ecuador
Duration: 18 Jun 202019 Jun 2020

Publication series

NameAdvances in Intelligent Systems and Computing
Volume1277
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365

Conference

Conference1st International Congress on Research and Innovation, CI3 2020
Country/TerritoryEcuador
CitySangolqui
Period18/06/2019/06/20

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

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