Abstract
© 2015 IEEE. This paper analizes a linear and a nonlinear PID control algorithms for a twin rotor MIMO system (TRMS), which is characterized by its nonlinearity, two degrees of freedom and cross coupling. This work aims to stabilize a TRMS in order to achieve a particular position and to follow a trajectory in the shortest time. Mathematical modelling of helicopter system is simulated using MATLAB/Simulink, the two degrees of freedom are controlled both horizontally and vertically through the proposed controllers. Here is also proposed a novel set of nonlinear-segmented observers for each degree of freedom in order to measure the states required by the nonlinear controller. Followed by a comparative performance analysis of both algorithms in a real TRMS.
Translated title of the contribution | Evaluación de algoritmos para el control PID lineal y no lineal para el sistema MIMO de rotor doble |
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Original language | English |
Pages | 214-219 |
Number of pages | 6 |
DOIs | |
State | Published - 1 Oct 2015 |
Event | Proceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015 - Quito, Ecuador Duration: 14 Jul 2015 → 16 Jul 2015 |
Conference
Conference | Proceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015 |
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Abbreviated title | APCASE 2015 |
Country/Territory | Ecuador |
City | Quito |
Period | 14/07/15 → 16/07/15 |